enable ci for stm32c0, fix build issue with video example and clang

5 files changed, 163 insertions, 12 deletions

diff --git a/.github/workflows/ci_set_matrix.py b/.github/workflows/ci_set_matrix.py
index 705dcac94..78fcac68a 100755
--- a/.github/workflows/ci_set_matrix.py
+++ b/.github/workflows/ci_set_matrix.py
@@ -36,7 +36,7 @@ family_list = {
     "samd11 saml2x": ["arm-gcc", "arm-clang"],
     "samd21": ["arm-gcc", "arm-clang"],
     "samd5x_e5x samg": ["arm-gcc", "arm-clang"],
-    "stm32f0 stm32f1 stm32f2 stm32f3": ["arm-gcc", "arm-clang", "arm-iar"],
+    "stm32c0 stm32f0 stm32f1 stm32f2 stm32f3": ["arm-gcc", "arm-clang", "arm-iar"],
     "stm32f4": ["arm-gcc", "arm-clang", "arm-iar"],
     "stm32f7": ["arm-gcc", "arm-clang", "arm-iar"],
     "stm32g0 stm32g4 stm32h5": ["arm-gcc", "arm-clang", "arm-iar"],
diff --git a/hw/bsp/stm32c0/FreeRTOSConfig/FreeRTOSConfig.h b/hw/bsp/stm32c0/FreeRTOSConfig/FreeRTOSConfig.h
new file mode 100644
index 000000000..4996b06cf
--- /dev/null
+++ b/hw/bsp/stm32c0/FreeRTOSConfig/FreeRTOSConfig.h
@@ -0,0 +1,149 @@
+/*
+ * 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.
+ *----------------------------------------------------------*/
+
+// skip if included from IAR assembler
+#ifndef __IASMARM__
+  #include "stm32c0xx.h"
+#endif
+
+/* Cortex M23/M33 port configuration. */
+#define configENABLE_MPU                        0
+#define configENABLE_FPU                        0
+#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                ( 200 )
+#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               4
+#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         1
+#define configSUPPORT_DYNAMIC_ALLOCATION        0
+
+/* 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
+#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 // 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
+
+/* 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       2
+
+/* 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/stm32c0/boards/stm32c071nucleo/STM32C071RBTX_FLASH.ld b/hw/bsp/stm32c0/boards/stm32c071nucleo/STM32C071RBTx_FLASH.ld
index bd2968889..8acd49f9d 100644
--- a/hw/bsp/stm32c0/boards/stm32c071nucleo/STM32C071RBTX_FLASH.ld
+++ b/hw/bsp/stm32c0/boards/stm32c071nucleo/STM32C071RBTx_FLASH.ld
@@ -35,9 +35,6 @@
 /* Entry Point */
 ENTRY(Reset_Handler)
 
-/* Highest address of the user mode stack */
-_estack = ORIGIN(RAM) + LENGTH(RAM); /* end of "RAM" Ram type memory */
-
 _Min_Heap_Size = 0x200; /* required amount of heap */
 _Min_Stack_Size = 0x400; /* required amount of stack */
 
@@ -48,6 +45,9 @@ MEMORY
   FLASH    (rx)    : ORIGIN = 0x8000000,   LENGTH = 128K
 }
 
+/* Highest address of the user mode stack */
+_estack = ORIGIN(RAM) + LENGTH(RAM); /* end of "RAM" Ram type memory */
+
 /* Sections */
 SECTIONS
 {
@@ -85,14 +85,14 @@ SECTIONS
     . = ALIGN(4);
   } >FLASH
 
-  .ARM.extab (READONLY) : /* The "READONLY" keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */
+  .ARM.extab :
   {
     . = ALIGN(4);
     *(.ARM.extab* .gnu.linkonce.armextab.*)
     . = ALIGN(4);
   } >FLASH
 
-  .ARM (READONLY) : /* The "READONLY" keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */
+  .ARM :
   {
     . = ALIGN(4);
     __exidx_start = .;
@@ -101,7 +101,7 @@ SECTIONS
     . = ALIGN(4);
   } >FLASH
 
-  .preinit_array (READONLY) : /* The "READONLY" keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */
+  .preinit_array :
   {
     . = ALIGN(4);
     PROVIDE_HIDDEN (__preinit_array_start = .);
@@ -110,7 +110,7 @@ SECTIONS
     . = ALIGN(4);
   } >FLASH
 
-  .init_array (READONLY) : /* The "READONLY" keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */
+  .init_array :
   {
     . = ALIGN(4);
     PROVIDE_HIDDEN (__init_array_start = .);
@@ -120,7 +120,7 @@ SECTIONS
     . = ALIGN(4);
   } >FLASH
 
-  .fini_array (READONLY) : /* The "READONLY" keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */
+  .fini_array :
   {
     . = ALIGN(4);
     PROVIDE_HIDDEN (__fini_array_start = .);
diff --git a/hw/bsp/stm32c0/family.cmake b/hw/bsp/stm32c0/family.cmake
index ebfb532c7..ed237838d 100644
--- a/hw/bsp/stm32c0/family.cmake
+++ b/hw/bsp/stm32c0/family.cmake
@@ -54,8 +54,9 @@ function(add_board_target BOARD_TARGET)
     ${ST_CMSIS}/Include
     ${ST_HAL_DRIVER}/Inc
     )
-#    target_compile_options(${BOARD_TARGET} PUBLIC)
-#    target_compile_definitions(${BOARD_TARGET} PUBLIC)
+  target_compile_definitions(${BOARD_TARGET} PUBLIC
+    CFG_EXAMPLE_VIDEO_READONLY
+    )
 
   update_board(${BOARD_TARGET})
 
diff --git a/hw/bsp/stm32c0/family.mk b/hw/bsp/stm32c0/family.mk
index 2380d76c3..9ff3a2fdf 100644
--- a/hw/bsp/stm32c0/family.mk
+++ b/hw/bsp/stm32c0/family.mk
@@ -11,7 +11,8 @@ CPU_CORE ?= cortex-m0plus
 # Compiler Flags
 # --------------
 CFLAGS += \
-  -DCFG_TUSB_MCU=OPT_MCU_STM32C0
+  -DCFG_TUSB_MCU=OPT_MCU_STM32C0 \
+  -DCFG_EXAMPLE_VIDEO_READONLY \
 
 # GCC Flags
 CFLAGS_GCC += \