From 4c9605910f1f53b2517fff5f0cc02973260f0739 Mon Sep 17 00:00:00 2001 From: hathach Date: Thu, 25 May 2023 21:27:26 +0700 Subject: [PATCH] update cmake with freertos --- hw/bsp/family_support.cmake | 85 ++++++---- hw/bsp/imxrt/FreeRTOSConfig/CMakeLists.txt | 8 - hw/bsp/imxrt/family.cmake | 23 +-- hw/bsp/lpc18/family.cmake | 23 +-- hw/bsp/lpc55/FreeRTOSConfig/FreeRTOSConfig.h | 166 +++++++++++++++++++ hw/bsp/lpc55/family.cmake | 33 ++-- hw/bsp/mcx/family.cmake | 28 +--- hw/bsp/nrf/family.cmake | 24 +-- hw/bsp/rp2040/family.cmake | 4 + 9 files changed, 240 insertions(+), 154 deletions(-) delete mode 100644 hw/bsp/imxrt/FreeRTOSConfig/CMakeLists.txt create mode 100644 hw/bsp/lpc55/FreeRTOSConfig/FreeRTOSConfig.h diff --git a/hw/bsp/family_support.cmake b/hw/bsp/family_support.cmake index 760f2fbbc..5bd9a6d75 100644 --- a/hw/bsp/family_support.cmake +++ b/hw/bsp/family_support.cmake @@ -1,19 +1,15 @@ -if (TARGET _family_support_marker) - return() -endif () - -add_library(_family_support_marker INTERFACE) +include_guard() include(CMakePrintHelpers) # Default to gcc -if(NOT DEFINED TOOLCHAIN) +if (NOT DEFINED TOOLCHAIN) set(TOOLCHAIN gcc) -endif() +endif () if (NOT FAMILY) message(FATAL_ERROR "You must set a FAMILY variable for the build (e.g. rp2040, eps32s2, esp32s3). You can do this via -DFAMILY=xxx on the cmake command line") -endif() +endif () if (NOT EXISTS ${CMAKE_CURRENT_LIST_DIR}/${FAMILY}/family.cmake) message(FATAL_ERROR "Family '${FAMILY}' is not known/supported") @@ -137,19 +133,19 @@ endfunction() function(family_support_configure_common TARGET) - # set output name to .elf - set_target_properties(${TARGET} PROPERTIES OUTPUT_NAME ${TARGET}.elf) + # set output name to .elf + set_target_properties(${TARGET} PROPERTIES OUTPUT_NAME ${TARGET}.elf) - # run size after build - add_custom_command(TARGET ${TARGET} POST_BUILD - COMMAND ${TOOLCHAIN_SIZE} $ - ) + # run size after build + add_custom_command(TARGET ${TARGET} POST_BUILD + COMMAND ${TOOLCHAIN_SIZE} $ + ) - # Generate map file - target_link_options(${TARGET} PUBLIC - # link map - "LINKER:-Map=$.map" - ) + # Generate map file + target_link_options(${TARGET} PUBLIC + # link map + "LINKER:-Map=$.map" + ) endfunction() # add_custom_command(TARGET ${TARGET} POST_BUILD @@ -160,23 +156,23 @@ endfunction() # Add flash jlink target function(family_flash_jlink TARGET) - if (NOT DEFINED JLINKEXE) - set(JLINKEXE JLinkExe) - endif () + if (NOT DEFINED JLINKEXE) + set(JLINKEXE JLinkExe) + endif () - file(GENERATE - OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/${TARGET}.jlink - CONTENT "halt + file(GENERATE + OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/${TARGET}.jlink + CONTENT "halt loadfile $ r go exit" - ) + ) - add_custom_target(${TARGET}-jlink - DEPENDS ${TARGET} - COMMAND ${JLINKEXE} -device ${JLINK_DEVICE} -if swd -JTAGConf -1,-1 -speed auto -CommandFile ${CMAKE_CURRENT_BINARY_DIR}/${TARGET}.jlink - ) + add_custom_target(${TARGET}-jlink + DEPENDS ${TARGET} + COMMAND ${JLINKEXE} -device ${JLINK_DEVICE} -if swd -JTAGConf -1,-1 -speed auto -CommandFile ${CMAKE_CURRENT_BINARY_DIR}/${TARGET}.jlink + ) endfunction() # Add flash pycod target @@ -218,6 +214,35 @@ function(family_configure_host_example TARGET) # default implementation is empty, the function should be redefined in the FAMILY/family.cmake endfunction() +# Add freeRTOS support to example, can be overridden by FAMILY/family.cmake +function(family_add_freertos TARGET) + # freeros config + if (NOT TARGET freertos_config) + add_library(freertos_config INTERFACE) + target_include_directories(freertos_config SYSTEM INTERFACE + ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/${FAMILY}/FreeRTOSConfig + ) + endif() + + # freertos kernel should be generic as freertos_config however, CMAKE complains with missing variable + # such as CMAKE_C_COMPILE_OBJECT + if (NOT TARGET freertos_kernel) + add_subdirectory(${TOP}/lib/FreeRTOS-Kernel ${CMAKE_BINARY_DIR}/lib/freertos_kernel) + endif () + + # Add FreeRTOS option to tinyusb_config + target_compile_definitions(${TARGET}-tinyusb_config INTERFACE + CFG_TUSB_OS=OPT_OS_FREERTOS + ) + # link tinyusb with freeRTOS kernel + target_link_libraries(${TARGET}-tinyusb PUBLIC + freertos_kernel + ) + target_link_libraries(${TARGET} PUBLIC + freertos_kernel + ) +endfunction() + include(${CMAKE_CURRENT_LIST_DIR}/${FAMILY}/family.cmake) if (NOT FAMILY_MCUS) diff --git a/hw/bsp/imxrt/FreeRTOSConfig/CMakeLists.txt b/hw/bsp/imxrt/FreeRTOSConfig/CMakeLists.txt deleted file mode 100644 index 0bacaf824..000000000 --- a/hw/bsp/imxrt/FreeRTOSConfig/CMakeLists.txt +++ /dev/null @@ -1,8 +0,0 @@ -if (NOT TARGET freertos_config) - add_library(freertos_config INTERFACE) - - # add path to FreeRTOSConfig.h - target_include_directories(freertos_config SYSTEM INTERFACE - ${CMAKE_CURRENT_LIST_DIR} - ) -endif() diff --git a/hw/bsp/imxrt/family.cmake b/hw/bsp/imxrt/family.cmake index 0e55b825d..f9818cde6 100644 --- a/hw/bsp/imxrt/family.cmake +++ b/hw/bsp/imxrt/family.cmake @@ -75,6 +75,7 @@ if (NOT TARGET ${BOARD_TARGET}) endif () endif () # BOARD_TARGET + #------------------------------------ # Functions #------------------------------------ @@ -129,28 +130,6 @@ function(family_configure_example TARGET) endfunction() -function(family_add_freertos TARGET) - # freertos_config - add_subdirectory(${CMAKE_CURRENT_FUNCTION_LIST_DIR}/FreeRTOSConfig ${CMAKE_CURRENT_BINARY_DIR}/freertos_config) - - ## freertos - if (NOT TARGET freertos_kernel) - add_subdirectory(${CMAKE_CURRENT_FUNCTION_LIST_DIR}/../../../lib/FreeRTOS-Kernel ${CMAKE_CURRENT_BINARY_DIR}/freertos_kernel) - endif () - - # Add FreeRTOS option to tinyusb_config - target_compile_definitions(${TARGET}-tinyusb_config INTERFACE - CFG_TUSB_OS=OPT_OS_FREERTOS - ) - # link tinyusb with freeRTOS kernel - target_link_libraries(${TARGET}-tinyusb PUBLIC - freertos_kernel - ) - target_link_libraries(${TARGET} PUBLIC - freertos_kernel - ) -endfunction() - function(family_configure_device_example TARGET) family_configure_example(${TARGET}) endfunction() diff --git a/hw/bsp/lpc18/family.cmake b/hw/bsp/lpc18/family.cmake index 29fa73d34..c47839a5c 100644 --- a/hw/bsp/lpc18/family.cmake +++ b/hw/bsp/lpc18/family.cmake @@ -62,6 +62,7 @@ if (NOT TARGET ${BOARD_TARGET}) endif () endif () # BOARD_TARGET + #------------------------------------ # Functions #------------------------------------ @@ -114,28 +115,6 @@ function(family_configure_example TARGET) endfunction() -function(family_add_freertos TARGET) - # freertos_config - add_subdirectory(${CMAKE_CURRENT_FUNCTION_LIST_DIR}/FreeRTOSConfig ${CMAKE_CURRENT_BINARY_DIR}/freertos_config) - - ## freertos - if (NOT TARGET freertos_kernel) - add_subdirectory(${CMAKE_CURRENT_FUNCTION_LIST_DIR}/../../../lib/FreeRTOS-Kernel ${CMAKE_CURRENT_BINARY_DIR}/freertos_kernel) - endif () - - # Add FreeRTOS option to tinyusb_config - target_compile_definitions(${TARGET}-tinyusb_config INTERFACE - CFG_TUSB_OS=OPT_OS_FREERTOS - ) - # link tinyusb with freeRTOS kernel - target_link_libraries(${TARGET}-tinyusb PUBLIC - freertos_kernel - ) - target_link_libraries(${TARGET} PUBLIC - freertos_kernel - ) -endfunction() - function(family_configure_device_example TARGET) family_configure_example(${TARGET}) endfunction() diff --git a/hw/bsp/lpc55/FreeRTOSConfig/FreeRTOSConfig.h b/hw/bsp/lpc55/FreeRTOSConfig/FreeRTOSConfig.h new file mode 100644 index 000000000..4c6058d27 --- /dev/null +++ b/hw/bsp/lpc55/FreeRTOSConfig/FreeRTOSConfig.h @@ -0,0 +1,166 @@ +/* + * FreeRTOS Kernel V10.0.0 + * Copyright (C) 2017 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. If you wish to use our Amazon + * FreeRTOS name, please do so in a fair use way that does not cause confusion. + * + * 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 + +/*----------------------------------------------------------- + * 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. + *----------------------------------------------------------*/ + +// IAR assembler have limited preprocessor support and it only need following macros: +#ifndef __IASMARM__ +// FIXME cause redundant-decls warnings +extern uint32_t SystemCoreClock; +#endif + +/* Cortex M23/M33 port configuration. */ +#define configENABLE_MPU 0 +#define configENABLE_FPU 1 +#define configENABLE_TRUSTZONE 0 +#define configMINIMAL_SECURE_STACK_SIZE ( 1024 ) + +#define configUSE_PREEMPTION 1 +#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0 +#define configCPU_CLOCK_HZ SystemCoreClock +#define configTICK_RATE_HZ ( 1000 ) +#define configMAX_PRIORITIES ( 5 ) +#define configMINIMAL_STACK_SIZE ( 128 ) +#define configTOTAL_HEAP_SIZE ( configSUPPORT_DYNAMIC_ALLOCATION*4*1024 ) +#define configMAX_TASK_NAME_LEN 16 +#define configUSE_16_BIT_TICKS 0 +#define configIDLE_SHOULD_YIELD 1 +#define configUSE_MUTEXES 1 +#define configUSE_RECURSIVE_MUTEXES 1 +#define configUSE_COUNTING_SEMAPHORES 1 +#define configQUEUE_REGISTRY_SIZE 2 +#define configUSE_QUEUE_SETS 0 +#define configUSE_TIME_SLICING 0 +#define configUSE_NEWLIB_REENTRANT 0 +#define configENABLE_BACKWARD_COMPATIBILITY 1 +#define configSTACK_ALLOCATION_FROM_SEPARATE_HEAP 0 + +#define configSUPPORT_STATIC_ALLOCATION 0 +#define configSUPPORT_DYNAMIC_ALLOCATION 1 + +/* Hook function related definitions. */ +#define configUSE_IDLE_HOOK 0 +#define configUSE_TICK_HOOK 0 +#define configUSE_MALLOC_FAILED_HOOK 0 // cause nested extern warning +#define configCHECK_FOR_STACK_OVERFLOW 2 + +/* 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 // legacy trace +#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 + +/* Optional functions - most linkers will remove unused functions anyway. */ +#define INCLUDE_vTaskPrioritySet 0 +#define INCLUDE_uxTaskPriorityGet 0 +#define INCLUDE_vTaskDelete 0 +#define INCLUDE_vTaskSuspend 1 // required for queue, semaphore, mutex to be blocked indefinitely with 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 0 +#define INCLUDE_xTimerPendFunctionCall 0 + +/* Define to trap errors during development. */ +// Halt CPU (breakpoint) when hitting error, only apply for Cortex M3, M4, M7 +#if defined(__ARM_ARCH_7M__) || defined (__ARM_ARCH_7EM__) + #define configASSERT(_exp) \ + do {\ + if ( !(_exp) ) { \ + volatile uint32_t* ARM_CM_DHCSR = ((volatile uint32_t*) 0xE000EDF0UL); /* Cortex M CoreDebug->DHCSR */ \ + if ( (*ARM_CM_DHCSR) & 1UL ) { /* Only halt mcu if debugger is attached */ \ + taskDISABLE_INTERRUPTS(); \ + __asm("BKPT #0\n"); \ + }\ + }\ + } while(0) +#else + #define configASSERT( x ) +#endif + +/* FreeRTOS hooks to NVIC vectors */ +#define xPortPendSVHandler PendSV_Handler +#define xPortSysTickHandler SysTick_Handler +#define vPortSVCHandler SVC_Handler + +//--------------------------------------------------------------------+ +// Interrupt nesting behavior configuration. +//--------------------------------------------------------------------+ + +// For Cortex-M specific: __NVIC_PRIO_BITS is defined in mcu header +#define configPRIO_BITS 3 + +/* The lowest interrupt priority that can be used in a call to a "set priority" function. */ +#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY ((1<