update cmake with freertos

9 files changed, 240 insertions, 154 deletions

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} $<TARGET_FILE:${TARGET}>
-      )
+  # run size after build
+  add_custom_command(TARGET ${TARGET} POST_BUILD
+    COMMAND ${TOOLCHAIN_SIZE} $<TARGET_FILE:${TARGET}>
+    )
 
-    # Generate map file
-    target_link_options(${TARGET} PUBLIC
-      # link map
-      "LINKER:-Map=$<TARGET_FILE:${TARGET}>.map"
-      )
+  # Generate map file
+  target_link_options(${TARGET} PUBLIC
+    # link map
+    "LINKER:-Map=$<TARGET_FILE:${TARGET}>.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 $<TARGET_FILE:${TARGET}>
 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<<configPRIO_BITS) - 1)
+
+/* The highest interrupt priority that can be used by any interrupt service
+routine that makes calls to interrupt safe FreeRTOS API functions.  DO NOT CALL
+INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER
+PRIORITY THAN THIS! (higher priorities are lower numeric values. */
+#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY	2
+
+/* Interrupt priorities used by the kernel port layer itself.  These are generic
+to all Cortex-M ports, and do not rely on any particular library functions. */
+#define configKERNEL_INTERRUPT_PRIORITY 		          ( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
+
+/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
+See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
+#define configMAX_SYSCALL_INTERRUPT_PRIORITY 	        ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
+
+#endif
diff --git a/hw/bsp/lpc55/family.cmake b/hw/bsp/lpc55/family.cmake
index 363b7a9cd..d6ce0b781 100644
--- a/hw/bsp/lpc55/family.cmake
+++ b/hw/bsp/lpc55/family.cmake
@@ -18,6 +18,16 @@ set(FAMILY_MCUS LPC55XX CACHE INTERNAL "")
 # include board specific
 include(${CMAKE_CURRENT_LIST_DIR}/boards/${BOARD}/board.cmake)
 
+#------------------------------------
+# freertos
+#------------------------------------
+if (NOT TARGET freertos_config)
+  add_library(freertos_config INTERFACE)
+  target_include_directories(freertos_config SYSTEM INTERFACE
+    ${CMAKE_CURRENT_LIST_DIR}/FreeRTOSConfig
+    )
+endif()
+
 
 #------------------------------------
 # BOARD_TARGET
@@ -72,6 +82,7 @@ if (NOT TARGET ${BOARD_TARGET})
   endif ()
 endif () # BOARD_TARGET
 
+
 #------------------------------------
 # Functions
 #------------------------------------
@@ -124,28 +135,6 @@ 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/mcx/family.cmake b/hw/bsp/mcx/family.cmake
index bc0dfe875..abca7c90e 100644
--- a/hw/bsp/mcx/family.cmake
+++ b/hw/bsp/mcx/family.cmake
@@ -67,6 +67,7 @@ if (NOT TARGET ${BOARD_TARGET})
   endif ()
 endif () # BOARD_TARGET
 
+
 #------------------------------------
 # Functions
 #------------------------------------
@@ -129,33 +130,6 @@ function(family_configure_example TARGET)
 endfunction()
 
 
-function(family_add_freertos TARGET)
-  # freertos_config
-  if (NOT TARGET freertos_config)
-    add_library(freertos_config INTERFACE)
-    target_include_directories(freertos_config SYSTEM INTERFACE
-      ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/FreeRTOSConfig
-      )
-  endif()
-
-  ## freertos
-  if (NOT TARGET freertos_kernel)
-    add_subdirectory(${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/nrf/family.cmake b/hw/bsp/nrf/family.cmake
index 9d958fee2..59d4a7947 100644
--- a/hw/bsp/nrf/family.cmake
+++ b/hw/bsp/nrf/family.cmake
@@ -74,6 +74,7 @@ if (NOT TARGET ${BOARD_TARGET})
   endif ()
 endif () # BOARD_TARGET
 
+
 #------------------------------------
 # Functions
 #------------------------------------
@@ -121,32 +122,9 @@ function(family_configure_example TARGET)
 
   #---------- Flash ----------
   family_flash_jlink(${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/rp2040/family.cmake b/hw/bsp/rp2040/family.cmake
index 5d80ab66e..17f206c77 100644
--- a/hw/bsp/rp2040/family.cmake
+++ b/hw/bsp/rp2040/family.cmake
@@ -330,4 +330,8 @@ if (NOT TARGET _rp2040_family_inclusion_marker)
 					COMPILE_FLAGS "-Wno-cast-qual")
 		endif()
 	endfunction()
+
+	# rp2040 does not support freeRTOS example yet
+	function(family_add_freertos TARGET)
+	endfunction()
 endif()