FreeRTOS · adam-scislowicz · May 26, 2022 · Oct 6, 2022 · Oct 6, 2022 · Oct 6, 2022
diff --git a/.gitmodules b/.gitmodules
@@ -1,6 +1,7 @@
 [submodule "FreeRTOS/Source"]
 	path = FreeRTOS/Source
-	url = https://github.com/FreeRTOS/FreeRTOS-Kernel.git
+	#url = https://github.com/joshzarr/FreeRTOS-Kernel.git
+        url = https://github.com/chinglee-iot/FreeRTOS-Kernel.git
 [submodule "FreeRTOS/Test/CMock/CMock"]
 	path = FreeRTOS/Test/CMock/CMock
 	url = https://github.com/ThrowTheSwitch/CMock.git

diff --git a/FreeRTOS/Demo/ThirdParty/Community-Supported/CORTEX_M0+_RP2040/CMakeLists.txt b/FreeRTOS/Demo/ThirdParty/Community-Supported/CORTEX_M0+_RP2040/CMakeLists.txt
@@ -8,6 +8,9 @@ include(pico_sdk_import.cmake)
 
 PROJECT(examples)
 
+set( FREERTOS_KERNEL_PATH "../../../../../Source" )
+
 add_subdirectory(OnEitherCore)
 add_subdirectory(Standard)
-add_subdirectory(UsingCMSIS)
+add_subdirectory(UsingCMSIS)
+add_subdirectory(Standard_smp)
diff --git a/FreeRTOS/Demo/ThirdParty/Community-Supported/CORTEX_M0+_RP2040/Standard/FreeRTOSConfig.h b/FreeRTOS/Demo/ThirdParty/Community-Supported/CORTEX_M0+_RP2040/Standard/FreeRTOSConfig.h
@@ -101,7 +101,7 @@
 */
 
 /* SMP port only */
-#define configNUM_CORES                         2
+#define configNUM_CORES                         1
 #define configTICK_CORE                         0
 #define configRUN_MULTIPLE_PRIORITIES           0
 

diff --git a/FreeRTOS/Demo/ThirdParty/Community-Supported/CORTEX_M0+_RP2040/Standard_smp/CMakeLists.txt b/FreeRTOS/Demo/ThirdParty/Community-Supported/CORTEX_M0+_RP2040/Standard_smp/CMakeLists.txt
@@ -0,0 +1,65 @@
+cmake_minimum_required(VERSION 3.13)
+
+# Pull in SDK (must be before project)
+include(pico_sdk_import.cmake)
+
+# Pull in FreeRTOS
+include(FreeRTOS_Kernel_import.cmake)
+
+project(example C CXX ASM)
+set(CMAKE_C_STANDARD 11)
+set(CMAKE_CXX_STANDARD 17)
+
+pico_sdk_init()
+
+add_executable(main_full_smp
+        main.c
+        main_full.c
+        IntQueueTimer.c
+        RegTest.s
+        ../../../../Common/Minimal/blocktim.c
+        ../../../../Common/Minimal/countsem.c
+        ../../../../Common/Minimal/dynamic.c
+        ../../../../Common/Minimal/recmutex.c
+        ../../../../Common/Minimal/QueueOverwrite.c
+        ../../../../Common/Minimal/EventGroupsDemo.c
+        ../../../../Common/Minimal/IntSemTest.c
+        ../../../../Common/Minimal/IntQueue.c
+        ../../../../Common/Minimal/TaskNotify.c
+        ../../../../Common/Minimal/TimerDemo.c
+        ../../../../Common/Minimal/GenQTest.c
+        ../../../../Common/Minimal/death.c
+        ../../../../Common/Minimal/semtest.c
+        ../../../../Common/Minimal/BlockQ.c
+        ../../../../Common/Minimal/flop.c
+        )
+
+target_compile_definitions(main_full_smp PRIVATE
+        mainCREATE_SIMPLE_BLINKY_DEMO_ONLY=0
+        )
+
+target_include_directories(main_full_smp PRIVATE
+        ${CMAKE_CURRENT_LIST_DIR}
+        ${CMAKE_CURRENT_LIST_DIR}/../../../../Common/include)
+
+target_compile_definitions(main_full_smp PRIVATE
+        PICO_STDIO_STACK_BUFFER_SIZE=64 # use a small printf on stack buffer
+)
+target_link_libraries(main_full_smp pico_stdlib FreeRTOS-Kernel FreeRTOS-Kernel-Heap4)
+pico_add_extra_outputs(main_full_smp)
+
+add_executable(main_blinky_smp
+        main.c
+        main_blinky.c
+        )
+
+target_compile_definitions(main_blinky_smp PRIVATE
+        mainCREATE_SIMPLE_BLINKY_DEMO_ONLY=1
+        )
+
+target_include_directories(main_blinky_smp PRIVATE
+        ${CMAKE_CURRENT_LIST_DIR}
+        ${CMAKE_CURRENT_LIST_DIR}/../../../../Common/include)
+
+target_link_libraries(main_blinky_smp pico_stdlib FreeRTOS-Kernel FreeRTOS-Kernel-Heap1)
+pico_add_extra_outputs(main_blinky_smp)
diff --git a/FreeRTOS/Demo/ThirdParty/Community-Supported/CORTEX_M0+_RP2040/Standard_smp/FreeRTOSConfig.h b/FreeRTOS/Demo/ThirdParty/Community-Supported/CORTEX_M0+_RP2040/Standard_smp/FreeRTOSConfig.h
@@ -0,0 +1,144 @@
+/*
+ * FreeRTOS V202107.00
+ * 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
+
+/*-----------------------------------------------------------
+ * 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 ) 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
+
+/* A header file that defines trace macro can be included here. */
+
+/* SMP Related config. */
+#define configUSE_MINIMAL_IDLE_HOOK             0
+#define portCRITICAL_NESTING_IN_TCB             1
+#define portSUPPORT_SMP                         1
+
+#endif /* FREERTOS_CONFIG_H */
+
diff --git a/...hirdParty/Community-Supported/CORTEX_M0+_RP2040/Standard_smp/FreeRTOS_Kernel_import.cmake b/...hirdParty/Community-Supported/CORTEX_M0+_RP2040/Standard_smp/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)
diff --git a/FreeRTOS/Demo/ThirdParty/Community-Supported/CORTEX_M0+_RP2040/Standard_smp/IntQueueTimer.c b/FreeRTOS/Demo/ThirdParty/Community-Supported/CORTEX_M0+_RP2040/Standard_smp/IntQueueTimer.c
@@ -0,0 +1,85 @@
+/*
+ * FreeRTOS V202107.00
+ * 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!
+ */
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+
+/* Demo includes. */
+#include "IntQueueTimer.h"
+#include "IntQueue.h"
+
+/* SDK APIs.*/
+#include "pico/time.h"
+#include "hardware/irq.h"
+
+/* The priorities for the two timers.  Note that a priority of 0 is the highest
+possible on Cortex-M devices. */
+#define tmrMAX_PRIORITY				( 0UL )
+#define trmSECOND_HIGHEST_PRIORITY ( tmrMAX_PRIORITY + 0x40 )
+
+#define FIRST_TIMER_PERIOD_US 500
+#define SECOND_TIMER_PERIOD_US 487
+
+void prvAlarm0Callback( uint timer )
+{
+    configASSERT(timer == 0);
+    BaseType_t xHigherPriorityTaskWoken = xFirstTimerHandler();
+    hardware_alarm_set_target(0, make_timeout_time_us( FIRST_TIMER_PERIOD_US) );
+    portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
+}
+
+void prvAlarm1Callback( uint timer )
+{
+    configASSERT(timer == 1);
+    BaseType_t xHigherPriorityTaskWoken = xSecondTimerHandler();
+    hardware_alarm_set_target(1, make_timeout_time_us( SECOND_TIMER_PERIOD_US) );
+    portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
+}
+
+void vInitialiseTimerForIntQueueTest( void )
+{
+    /* Use raw hardware alarms so we have nested interrupts */
+    hardware_alarm_claim(0);
+    hardware_alarm_claim(1);
+
+    /* Don't generate interrupts until the scheduler has been started.
+       Interrupts will be automatically enabled when the first task starts
+       running. */
+    taskDISABLE_INTERRUPTS();
+
+    /* Initialize timers. */
+
+    /* Set the timer interrupts to be above the kernel.  The interrupts are
+    assigned different priorities so they nest with each other. */
+    irq_set_priority(TIMER_IRQ_0, tmrMAX_PRIORITY);
+    irq_set_priority(TIMER_IRQ_1, trmSECOND_HIGHEST_PRIORITY);
+    hardware_alarm_set_callback(0, prvAlarm0Callback);
+    hardware_alarm_set_callback(1, prvAlarm1Callback);
+    hardware_alarm_set_target(0, make_timeout_time_us( FIRST_TIMER_PERIOD_US) );
+    hardware_alarm_set_target(1, make_timeout_time_us( SECOND_TIMER_PERIOD_US) );
+}