get freertos working with rp2040

14 files changed, 106 insertions, 50 deletions

diff --git a/.idea/cmake.xml b/.idea/cmake.xml
index 6f87e2a29..14dbdfe66 100644
--- a/.idea/cmake.xml
+++ b/.idea/cmake.xml
@@ -5,9 +5,9 @@
       <configuration PROFILE_NAME="raspberrypi_zero" ENABLED="false" CONFIG_NAME="Debug" GENERATION_OPTIONS="-DBOARD=raspberrypi_zero -DLOG=1" />
       <configuration PROFILE_NAME="raspberrypi_zero2" ENABLED="false" CONFIG_NAME="Debug" GENERATION_OPTIONS="-DBOARD=raspberrypi_zero2 -DLOG=1" />
       <configuration PROFILE_NAME="raspberrypi_cm4" ENABLED="false" CONFIG_NAME="Debug" GENERATION_OPTIONS="-DBOARD=raspberrypi_cm4 -DLOG=1" />
-      <configuration PROFILE_NAME="raspberry_pi_pico" ENABLED="false" CONFIG_NAME="Debug" GENERATION_OPTIONS="-DBOARD=raspberry_pi_pico -DLOG=1" />
+      <configuration PROFILE_NAME="raspberry_pi_pico" ENABLED="true" CONFIG_NAME="Debug" GENERATION_OPTIONS="-DBOARD=raspberry_pi_pico -DLOG=1" />
       <configuration PROFILE_NAME="raspberry_pi_pico-pio_host" ENABLED="false" CONFIG_NAME="Debug" GENERATION_OPTIONS="-DBOARD=raspberry_pi_pico -DLOG=1 -DCFLAGS_CLI=&quot;-DCFG_TUH_RPI_PIO_USB=1&quot;" />
-      <configuration PROFILE_NAME="raspberry_pi_pico2" ENABLED="false" CONFIG_NAME="Debug" GENERATION_OPTIONS="-DBOARD=raspberry_pi_pico2 -DLOG=1" />
+      <configuration PROFILE_NAME="raspberry_pi_pico2" ENABLED="true" CONFIG_NAME="Debug" GENERATION_OPTIONS="-DBOARD=raspberry_pi_pico2 -DLOG=1" />
       <configuration PROFILE_NAME="raspberry_pi_pico2-pio_host" ENABLED="false" CONFIG_NAME="Debug" GENERATION_OPTIONS="-DBOARD=raspberry_pi_pico2 -DLOG=1 -DCFLAGS_CLI=&quot;-DCFG_TUH_RPI_PIO_USB=1&quot;" />
       <configuration PROFILE_NAME="feather_rp2040" ENABLED="false" CONFIG_NAME="Debug" GENERATION_OPTIONS="-DBOARD=pico_sdk -DPICO_BOARD=adafruit_feather_rp2040 -DLOG=1" />
       <configuration PROFILE_NAME="feather_rp2040_max3421" ENABLED="false" CONFIG_NAME="Debug" GENERATION_OPTIONS="-DBOARD=feather_rp2040_max3421 -DLOG=1" />
@@ -101,6 +101,8 @@
       <configuration PROFILE_NAME="nrf52840dk" ENABLED="false" CONFIG_NAME="Debug" GENERATION_OPTIONS="-DBOARD=nrf52840dk -DLOG=1 -DLOGGER=RTT -DTRACE_ETM=1" />
       <configuration PROFILE_NAME="nrf52840dk-zephyr" ENABLED="false" CONFIG_NAME="Debug" GENERATION_OPTIONS="-DBOARD=nrf52840dk -DLOG=1 -DTRACE_ETM=1 -DRTOS=zephyr" BUILD_OPTIONS="-v" />
       <configuration PROFILE_NAME="nrf5340dk" ENABLED="false" CONFIG_NAME="Debug" GENERATION_OPTIONS="-DBOARD=nrf5340dk -DLOG=1 -DLOGGER=RTT -DTRACE_ETM=1" />
+      <configuration PROFILE_NAME="nrf54h20dk" ENABLED="false" CONFIG_NAME="Debug" GENERATION_OPTIONS="-DBOARD=nrf54h20dk -DLOG=1 -DLOGGER=RTT -DTRACE_ETM=1" />
+      <configuration PROFILE_NAME="nrf54lm20dk" ENABLED="false" CONFIG_NAME="MinSizeRel" GENERATION_OPTIONS="-DBOARD=nrf54lm20dk -DLOG=0 -DLOGGER=RTT -DTRACE_ETM=1" />
       <configuration PROFILE_NAME="metro m7 1011 sd" ENABLED="false" CONFIG_NAME="Debug" GENERATION_OPTIONS="-DBOARD=metro_m7_1011_sd -DLOG=1 -DLOGGER=RTT -DTRACE_ETM=1" />
       <configuration PROFILE_NAME="metro_m7_1011" ENABLED="false" CONFIG_NAME="Debug" GENERATION_OPTIONS="-DBOARD=metro_m7_1011 -DLOG=1 -DLOGGER=RTT" />
       <configuration PROFILE_NAME="rt1010 evk" ENABLED="false" CONFIG_NAME="Debug" GENERATION_OPTIONS="-DBOARD=mimxrt1010_evk -DLOG=1 -DLOGGER=RTT" />
diff --git a/examples/device/audio_4_channel_mic_freertos/skip.txt b/examples/device/audio_4_channel_mic_freertos/skip.txt
index be44cb2c0..61a7b0605 100644
--- a/examples/device/audio_4_channel_mic_freertos/skip.txt
+++ b/examples/device/audio_4_channel_mic_freertos/skip.txt
@@ -9,7 +9,6 @@ mcu:MCXA15
 mcu:MKL25ZXX
 mcu:MSP430x5xx
 mcu:FT90X
-mcu:RP2040
 mcu:SAMD11
 mcu:VALENTYUSB_EPTRI
 mcu:RAXXX
diff --git a/examples/device/audio_4_channel_mic_freertos/src/main.c b/examples/device/audio_4_channel_mic_freertos/src/main.c
index 4572bbb3c..eac66a4ef 100644
--- a/examples/device/audio_4_channel_mic_freertos/src/main.c
+++ b/examples/device/audio_4_channel_mic_freertos/src/main.c
@@ -310,7 +310,7 @@ bool tud_audio_set_req_entity_cb(uint8_t rhport, tusb_control_request_t const *p
         // Request uses format layout 2
         TU_VERIFY(p_request->wLength == sizeof(audio20_control_cur_2_t));
 
-        volume[channelNum] = ((audio20_control_cur_2_t *) pBuff)->bCur;
+        volume[channelNum] = (uint16_t) ((audio20_control_cur_2_t *) pBuff)->bCur;
         TU_LOG1("    Set Volume: %d dB of channel: %u\r\n", volume[channelNum], channelNum);
         return true;
 
diff --git a/examples/device/audio_test_freertos/skip.txt b/examples/device/audio_test_freertos/skip.txt
index 007fece53..386a0cdfb 100644
--- a/examples/device/audio_test_freertos/skip.txt
+++ b/examples/device/audio_test_freertos/skip.txt
@@ -9,7 +9,6 @@ mcu:MCXA15
 mcu:MKL25ZXX
 mcu:MSP430x5xx
 mcu:FT90X
-mcu:RP2040
 mcu:SAMD11
 mcu:VALENTYUSB_EPTRI
 mcu:RAXXX
diff --git a/examples/device/cdc_msc_freertos/skip.txt b/examples/device/cdc_msc_freertos/skip.txt
index 31d808d8e..429c62d93 100644
--- a/examples/device/cdc_msc_freertos/skip.txt
+++ b/examples/device/cdc_msc_freertos/skip.txt
@@ -9,7 +9,6 @@ mcu:MCXA15
 mcu:MKL25ZXX
 mcu:MSP430x5xx
 mcu:FT90X
-mcu:RP2040
 mcu:SAMD11
 mcu:VALENTYUSB_EPTRI
 mcu:RAXXX
diff --git a/examples/device/cdc_msc_freertos/src/msc_disk.c b/examples/device/cdc_msc_freertos/src/msc_disk.c
index ff918205e..ab551c288 100644
--- a/examples/device/cdc_msc_freertos/src/msc_disk.c
+++ b/examples/device/cdc_msc_freertos/src/msc_disk.c
@@ -168,7 +168,7 @@ static void io_task(void *params) {
   while (1) {
     if (xQueueReceive(io_queue, &io_ops, portMAX_DELAY)) {
       uint8_t* addr = (uint8_t*) (uintptr_t) (msc_disk[io_ops.lba] + io_ops.offset);
-      int32_t nbytes = io_ops.bufsize;
+      int32_t nbytes = (int32_t) io_ops.bufsize;
       if (io_ops.is_read) {
         memcpy(io_ops.buffer, addr, io_ops.bufsize);
       } else {
diff --git a/examples/device/hid_composite_freertos/skip.txt b/examples/device/hid_composite_freertos/skip.txt
index 8ae238584..d2ee8d636 100644
--- a/examples/device/hid_composite_freertos/skip.txt
+++ b/examples/device/hid_composite_freertos/skip.txt
@@ -9,7 +9,6 @@ mcu:MCXA15
 mcu:MKL25ZXX
 mcu:MSP430x5xx
 mcu:FT90X
-mcu:RP2040
 mcu:SAMD11
 mcu:VALENTYUSB_EPTRI
 mcu:RAXXX
diff --git a/examples/device/midi_test_freertos/skip.txt b/examples/device/midi_test_freertos/skip.txt
index 8ae238584..d2ee8d636 100644
--- a/examples/device/midi_test_freertos/skip.txt
+++ b/examples/device/midi_test_freertos/skip.txt
@@ -9,7 +9,6 @@ mcu:MCXA15
 mcu:MKL25ZXX
 mcu:MSP430x5xx
 mcu:FT90X
-mcu:RP2040
 mcu:SAMD11
 mcu:VALENTYUSB_EPTRI
 mcu:RAXXX
diff --git a/examples/host/cdc_msc_hid_freertos/skip.txt b/examples/host/cdc_msc_hid_freertos/skip.txt
index bb62547a6..f0be07d25 100644
--- a/examples/host/cdc_msc_hid_freertos/skip.txt
+++ b/examples/host/cdc_msc_hid_freertos/skip.txt
@@ -1,4 +1,3 @@
 mcu:CH32F20X
-mcu:RP2040
 board:lpcxpresso54114
 mcu:FT90X
diff --git a/hw/bsp/family_support.cmake b/hw/bsp/family_support.cmake
index 2274515e4..d69884407 100644
--- a/hw/bsp/family_support.cmake
+++ b/hw/bsp/family_support.cmake
@@ -367,24 +367,66 @@ endfunction()
 # Most families use these settings except rp2040 and espressif
 #-------------------------------------------------------------
 function(family_add_board BOARD_TARGET)
-  # empty function, should be redefined in FAMILY/family.cmake
+  # empty function, should be overridden in FAMILY/family.cmake
 endfunction()
 
 # Add RTOS to example
 function(family_add_rtos TARGET RTOS)
   if (RTOS STREQUAL "freertos")
-    if (NOT TARGET freertos_config)
-      add_library(freertos_config INTERFACE)
-      target_include_directories(freertos_config INTERFACE ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/${FAMILY}/FreeRTOSConfig)
-      # add board definition to freertos_config mostly for SystemCoreClock
-      target_link_libraries(freertos_config INTERFACE board_${BOARD})
+    # RP2040 family uses Raspberry Pi's FreeRTOS-Kernel fork with platform-specific SMP port
+    if (FAMILY STREQUAL "rp2040")
+      if (NOT TARGET FreeRTOS-Kernel)
+        set(FREERTOS_KERNEL_PATH ${TOP}/hw/mcu/raspberry_pi/FreeRTOS-Kernel)
+        set(FREERTOS_CONFIG_FILE_DIRECTORY ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/${FAMILY}/FreeRTOSConfig)
+        if (PICO_PLATFORM STREQUAL "rp2040")
+          set(FREERTOS_PORT_PATH ${FREERTOS_KERNEL_PATH}/portable/ThirdParty/GCC/RP2040)
+        else()
+          set(FREERTOS_PORT_PATH ${FREERTOS_KERNEL_PATH}/portable/ThirdParty/GCC/RP2350_ARM_NTZ)
+        endif()
+        include(${FREERTOS_PORT_PATH}/library.cmake)
+      endif()
+      target_link_libraries(${TARGET} PUBLIC FreeRTOS-Kernel-Static)
+
+      # Suppress warnings in FreeRTOS kernel port sources
+      foreach(_ft IN ITEMS FreeRTOS-Kernel FreeRTOS-Kernel-Core FreeRTOS-Kernel-Static)
+        get_target_property(_srcs ${_ft} INTERFACE_SOURCES)
+        if (_srcs)
+          set_source_files_properties(${_srcs} PROPERTIES COMPILE_OPTIONS "-w")
+        endif()
+      endforeach()
+
+      # FreeRTOS headers use undefined macros in #if (triggers -Wundef/-Werror).
+      # Convert all FreeRTOS include dirs to SYSTEM to suppress warnings.
+      foreach(_ft IN ITEMS FreeRTOS-Kernel FreeRTOS-Kernel-Core)
+        get_target_property(_incs ${_ft} INTERFACE_INCLUDE_DIRECTORIES)
+        if (_incs)
+          set_target_properties(${_ft} PROPERTIES INTERFACE_INCLUDE_DIRECTORIES "")
+          target_include_directories(${_ft} SYSTEM INTERFACE ${_incs})
+        endif()
+      endforeach()
+    else()
+      # All other families: use upstream FreeRTOS-Kernel with add_subdirectory
+      if (NOT TARGET freertos_config)
+        add_library(freertos_config INTERFACE)
+        target_include_directories(freertos_config INTERFACE
+          ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/${FAMILY}/FreeRTOSConfig)
+        target_link_libraries(freertos_config INTERFACE board_${BOARD})
+      endif()
+
+      if (NOT TARGET freertos_kernel)
+        add_subdirectory(${TOP}/lib/FreeRTOS-Kernel ${CMAKE_BINARY_DIR}/lib/freertos_kernel)
+      endif ()
+
+      target_link_libraries(${TARGET} PUBLIC freertos_kernel)
     endif()
 
-    if (NOT TARGET freertos_kernel)
-      add_subdirectory(${TOP}/lib/FreeRTOS-Kernel ${CMAKE_BINARY_DIR}/lib/freertos_kernel)
-    endif ()
+    # RP2040: remove CFG_TUSB_OS=OPT_OS_PICO from tinyusb_common_base to avoid redefinition
+    if (FAMILY STREQUAL "rp2040" AND TARGET tinyusb_common_base)
+      get_target_property(_defs tinyusb_common_base INTERFACE_COMPILE_DEFINITIONS)
+      list(REMOVE_ITEM _defs "CFG_TUSB_OS=${TINYUSB_OPT_OS}")
+      set_property(TARGET tinyusb_common_base PROPERTY INTERFACE_COMPILE_DEFINITIONS ${_defs})
+    endif()
 
-    target_link_libraries(${TARGET} PUBLIC freertos_kernel)
     target_compile_definitions(${TARGET} PUBLIC CFG_TUSB_OS=OPT_OS_FREERTOS)
   elseif (RTOS STREQUAL "threadx")
     if (NOT TARGET threadx)
@@ -465,7 +507,10 @@ function(family_configure_common TARGET RTOS)
     target_compile_definitions(${TARGET} PUBLIC LOGGER_UART)
   endif ()
 
-  if (CMAKE_C_COMPILER_ID STREQUAL "GNU" OR CMAKE_C_COMPILER_ID STREQUAL "Clang")
+  # rp2040 family handles warnings and linker map in its own family_configure_example
+  if (FAMILY STREQUAL "rp2040")
+    # skip - handled by rp2040_family_configure_example_warnings
+  elseif (CMAKE_C_COMPILER_ID STREQUAL "GNU" OR CMAKE_C_COMPILER_ID STREQUAL "Clang")
     target_compile_options(${TARGET} PRIVATE ${WARN_FLAGS_${CMAKE_C_COMPILER_ID}})
     target_link_options(${TARGET} PUBLIC "LINKER:-Map=$<TARGET_FILE:${TARGET}>.map")
     if (CMAKE_C_COMPILER_ID STREQUAL "GNU" AND CMAKE_C_COMPILER_VERSION VERSION_GREATER_EQUAL 12.0
@@ -557,11 +602,11 @@ endfunction()
 
 #-------------------------------------------------------
 # Example Target Configure (Default rule)
-# These function can be redefined in FAMILY/family.cmake
+# These function can be overridden in FAMILY/family.cmake
 #--------------------------------------------------------
 
 function(family_configure_example TARGET RTOS)
-  # empty function, should be redefined in FAMILY/family.cmake
+  # empty function, should be overridden in FAMILY/family.cmake
 endfunction()
 
 # Configure device example with RTOS
diff --git a/hw/bsp/rp2040/family.c b/hw/bsp/rp2040/family.c
index b5a1375a2..a4642face 100644
--- a/hw/bsp/rp2040/family.c
+++ b/hw/bsp/rp2040/family.c
@@ -298,6 +298,20 @@ void board_init_after_tusb(void) {
   // nothing to do
 }
 
+//--------------------------------------------------------------------+
+// FreeRTOS hooks
+//--------------------------------------------------------------------+
+#if CFG_TUSB_OS == OPT_OS_FREERTOS
+#include "FreeRTOS.h"
+#include "task.h"
+
+void vApplicationStackOverflowHook(TaskHandle_t xTask, char *pcTaskName) {
+  (void) xTask;
+  (void) pcTaskName;
+  panic("FreeRTOS stack overflow: %s", pcTaskName);
+}
+#endif
+
 void board_reset_to_bootloader(void) {
   // not implemented
 }
diff --git a/hw/bsp/rp2040/family.cmake b/hw/bsp/rp2040/family.cmake
index 2e2cd436a..f125caafe 100644
--- a/hw/bsp/rp2040/family.cmake
+++ b/hw/bsp/rp2040/family.cmake
@@ -231,36 +231,32 @@ function(family_add_default_example_warnings TARGET)
   endif()
 endfunction()
 
+function(family_add_board BOARD_TARGET)
+	add_library(${BOARD_TARGET} INTERFACE)
+endfunction()
 
-# TODO merge with family_configure_common from family_support.cmake
-function(family_configure_target TARGET RTOS)
-	if (RTOS STREQUAL noos OR RTOS STREQUAL "")
-		set(RTOS_SUFFIX "")
-	else()
-		set(RTOS_SUFFIX _${RTOS})
-	endif()
-	# export RTOS_SUFFIX to parent scope
-	set(RTOS_SUFFIX ${RTOS_SUFFIX} PARENT_SCOPE)
 
-	# compile define from command line
-	if(DEFINED CFLAGS_CLI)
-		separate_arguments(CFLAGS_CLI)
-		target_compile_options(${TARGET} PUBLIC ${CFLAGS_CLI})
+function(family_configure_example TARGET RTOS)
+	# Set OS per-target: FreeRTOS or Pico SDK
+	if (NOT DEFINED RTOS)
+		set(RTOS noos CACHE STRING "RTOS")
+	endif ()
+
+	family_configure_common(${TARGET} ${RTOS})
+
+	# Set OS for non-RTOS targets (RTOS targets get it from family_add_rtos)
+	if (NOT RTOS STREQUAL "freertos")
+		target_compile_definitions(${TARGET} PUBLIC CFG_TUSB_OS=${TINYUSB_OPT_OS})
 	endif()
 
 	pico_add_extra_outputs(${TARGET})
 	pico_enable_stdio_uart(${TARGET} 1)
 
-  target_link_options(${TARGET} PUBLIC "LINKER:-Map=$<TARGET_FILE:${TARGET}>.map")
-	target_link_libraries(${TARGET} PUBLIC pico_stdlib tinyusb_board${RTOS_SUFFIX} tinyusb_additions)
+	target_link_options(${TARGET} PUBLIC "LINKER:-Map=$<TARGET_FILE:${TARGET}>.map")
+	target_link_libraries(${TARGET} PUBLIC pico_stdlib tinyusb_board tinyusb_additions)
 
-  family_flash_openocd(${TARGET})
+	family_flash_openocd(${TARGET})
 	family_flash_jlink(${TARGET})
-
-	# Generate linkermap target and post build. LINKERMAP_OPTION can be set with -D to change default options
-	family_add_bloaty(${TARGET})
-  family_add_linkermap(${TARGET})
-  family_add_membrowse(${TARGET})
 endfunction()
 
 
@@ -276,8 +272,8 @@ endfunction()
 
 
 function(family_configure_device_example TARGET RTOS)
-	family_configure_target(${TARGET} ${RTOS})
-	target_link_libraries(${TARGET} PUBLIC pico_stdlib tinyusb_device${RTOS_SUFFIX})
+	family_configure_example(${TARGET} ${RTOS})
+	target_link_libraries(${TARGET} PUBLIC pico_stdlib tinyusb_device)
 	rp2040_family_configure_example_warnings(${TARGET})
 endfunction()
 
@@ -298,8 +294,8 @@ function(is_compiler_supported_by_pico_pio_usb OUTVAR)
 endfunction()
 
 function(family_configure_host_example TARGET RTOS)
-	family_configure_target(${TARGET} ${RTOS})
-	target_link_libraries(${TARGET} PUBLIC pico_stdlib tinyusb_host${RTOS_SUFFIX})
+	family_configure_example(${TARGET} ${RTOS})
+	target_link_libraries(${TARGET} PUBLIC pico_stdlib tinyusb_host)
 	rp2040_family_configure_example_warnings(${TARGET})
 
 	# For rp2040 enable pico-pio-usb
@@ -319,7 +315,7 @@ endfunction()
 
 
 function(family_configure_dual_usb_example TARGET RTOS)
-	family_configure_target(${TARGET} ${RTOS})
+	family_configure_example(${TARGET} ${RTOS})
 	# require tinyusb_pico_pio_usb
 	target_link_libraries(${TARGET} PUBLIC pico_stdlib tinyusb_device tinyusb_host tinyusb_pico_pio_usb )
 	rp2040_family_configure_example_warnings(${TARGET})
diff --git a/test/hil/hil_test.py b/test/hil/hil_test.py
index f23e2fc22..d50a60894 100755
--- a/test/hil/hil_test.py
+++ b/test/hil/hil_test.py
@@ -102,6 +102,8 @@ def get_serial_dev(id, vendor_str, product_str, ifnum):
         # just use id: mostly for cp210x/ftdi flasher
         pattern = f'/dev/serial/by-id/usb-*_{id}-if*'
         port_list = glob.glob(pattern)
+        if len(port_list) == 0:
+            raise RuntimeError(f'No serial device found for {pattern}')
         return port_list[0]
 
 
diff --git a/tools/get_deps.py b/tools/get_deps.py
index 23f015c0d..eb87abf6e 100755
--- a/tools/get_deps.py
+++ b/tools/get_deps.py
@@ -12,7 +12,7 @@ deps_mandatory = {
                   '30ca13c62615df0d2e9104ab41256985b96590c1',
                   'all'],
     'lib/FreeRTOS-Kernel': ['https://github.com/FreeRTOS/FreeRTOS-Kernel.git',
-                            'cc0e0707c0c748713485b870bb980852b210877f',
+                            '9b777ae5c5b8e9e456065a00294d1e5f5f9facf5',
                             'all'],
     'lib/lwip': ['https://github.com/lwip-tcpip/lwip.git',
                  '159e31b689577dbf69cf0683bbaffbd71fa5ee10',
@@ -82,6 +82,9 @@ deps_optional = {
     'hw/mcu/nxp/mcux-devices-rt': ['https://github.com/nxp-mcuxpresso/mcux-devices-rt',
                             'dba2b523c9df61f3330bd186242f8210a8e47c45',
                             'imxrt'],
+    'hw/mcu/raspberry_pi/FreeRTOS-Kernel': ['https://github.com/raspberrypi/FreeRTOS-Kernel.git',
+                                           '4f7299d6ea746b27a9dd19e87af568e34bd65b15',
+                                           'rp2040'],
     'hw/mcu/raspberry_pi/Pico-PIO-USB': ['https://github.com/sekigon-gonnoc/Pico-PIO-USB.git',
                                          '675543bcc9baa8170f868ab7ba316d418dbcf41f',
                                          'rp2040'],