Merge pull request #3598 from hathach/worktree-rp2040-freertos

Add FreeRTOS support for RP2040/RP2350 

17 files changed, 252 insertions, 149 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/examples/host/msc_file_explorer/CMakeLists.txt b/examples/host/msc_file_explorer/CMakeLists.txt
index 21703030c..c8d196447 100644
--- a/examples/host/msc_file_explorer/CMakeLists.txt
+++ b/examples/host/msc_file_explorer/CMakeLists.txt
@@ -23,13 +23,6 @@ target_sources(${PROJECT_NAME} PUBLIC
   ${TOP}/lib/fatfs/source/ffunicode.c
   )
 
-# Suppress warnings on fatfs
-if (CMAKE_C_COMPILER_ID STREQUAL "GNU" OR CMAKE_C_COMPILER_ID STREQUAL "Clang")
-  set_source_files_properties(${TOP}/lib/fatfs/source/ff.c PROPERTIES
-    COMPILE_FLAGS "-Wno-conversion -Wno-cast-qual"
-    )
-endif ()
-
 # Example include
 target_include_directories(${PROJECT_NAME} PUBLIC
   ${CMAKE_CURRENT_SOURCE_DIR}/src
@@ -40,3 +33,10 @@ target_include_directories(${PROJECT_NAME} PUBLIC
 # Configure compilation flags and libraries for the example without RTOS.
 # See the corresponding function in hw/bsp/FAMILY/family.cmake for details.
 family_configure_host_example(${PROJECT_NAME} noos)
+
+# Suppress warnings on fatfs
+if (CMAKE_C_COMPILER_ID STREQUAL "GNU" OR CMAKE_C_COMPILER_ID STREQUAL "Clang")
+  set_source_files_properties(${TOP}/lib/fatfs/source/ff.c PROPERTIES
+    COMPILE_OPTIONS "-Wno-conversion;-Wno-cast-qual"
+    )
+endif ()
diff --git a/hw/bsp/family_support.cmake b/hw/bsp/family_support.cmake
index 2274515e4..cb8ec6cf8 100644
--- a/hw/bsp/family_support.cmake
+++ b/hw/bsp/family_support.cmake
@@ -367,24 +367,37 @@ 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})
-    endif()
+    # 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)
+        # FreeRTOS_Kernel_import.cmake auto-selects RP2040/RP2350/RISC-V port based on PICO_PLATFORM
+        include(${FREERTOS_KERNEL_PATH}/portable/ThirdParty/GCC/RP2040/FreeRTOS_Kernel_import.cmake)
+      endif()
+      target_link_libraries(${TARGET} PUBLIC FreeRTOS-Kernel-Static)
+    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 ${CMAKE_BINARY_DIR}/lib/freertos_kernel)
-    endif ()
+      if (NOT TARGET freertos_kernel)
+        add_subdirectory(${TOP}/lib/FreeRTOS-Kernel ${CMAKE_BINARY_DIR}/lib/freertos_kernel)
+      endif ()
+
+      target_link_libraries(${TARGET} PUBLIC freertos_kernel)
+    endif()
 
-    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 +478,11 @@ 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")
+  if (FAMILY STREQUAL "rp2040")
+    # RP2040: apply warnings per-source-file (not per-target) since Pico SDK sources
+    # are INTERFACE and would not inherit target-level warnings correctly
+    family_add_default_example_warnings(${TARGET})
+  elseif (CMAKE_C_COMPILER_ID STREQUAL "GNU" OR CMAKE_C_COMPILER_ID STREQUAL "Clang")
     target_compile_options(${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 +574,11 @@ 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/family_support.mk b/hw/bsp/family_support.mk
index 69aa08922..6b08f6e88 100644
--- a/hw/bsp/family_support.mk
+++ b/hw/bsp/family_support.mk
@@ -170,6 +170,7 @@ ifeq ($(RTOS),freertos)
 
 	# Suppress FreeRTOS source warnings
 	CFLAGS += -Wno-error=cast-qual
+	CFLAGS += -Wno-error=null-dereference
 
 	# FreeRTOS (lto + Os) linker issue
 	LDFLAGS += -Wl,--undefined=vTaskSwitchContext
diff --git a/hw/bsp/rp2040/FreeRTOSConfig/FreeRTOSConfig.h b/hw/bsp/rp2040/FreeRTOSConfig/FreeRTOSConfig.h
new file mode 100644
index 000000000..fe030e6dc
--- /dev/null
+++ b/hw/bsp/rp2040/FreeRTOSConfig/FreeRTOSConfig.h
@@ -0,0 +1,144 @@
+/*
+ * FreeRTOS V202111.00
+ * 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
+
+/* Scheduler Related */
+#define configUSE_PREEMPTION                    1
+#define configUSE_TICKLESS_IDLE                 0
+#define configUSE_IDLE_HOOK                     0
+#define configUSE_TICK_HOOK                     0
+#define configTICK_RATE_HZ                      ( ( TickType_t ) 1000 )
+#define configMAX_PRIORITIES                    5
+#define configMINIMAL_STACK_SIZE                ( configSTACK_DEPTH_TYPE ) 128
+#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               4
+#define configUSE_QUEUE_SETS                    0
+#define configUSE_TIME_SLICING                  0
+#define configUSE_NEWLIB_REENTRANT              0
+#define configENABLE_BACKWARD_COMPATIBILITY     1
+#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         1
+#define configSUPPORT_DYNAMIC_ALLOCATION        0
+#define configTOTAL_HEAP_SIZE                   ( configSUPPORT_DYNAMIC_ALLOCATION * 4 * 1024 )
+#define configAPPLICATION_ALLOCATED_HEAP        0
+
+/* Hook function related definitions. */
+#define configCHECK_FOR_STACK_OVERFLOW          2
+#define configUSE_MALLOC_FAILED_HOOK            0
+#define configUSE_DAEMON_TASK_STARTUP_HOOK      0
+#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
+#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
+
+/* SMP port configuration (set by the RP2xxx SMP port of FreeRTOS) */
+#if FREE_RTOS_KERNEL_SMP
+#ifndef configNUMBER_OF_CORES
+#define configNUMBER_OF_CORES                   1
+#endif
+#define configNUM_CORES                         configNUMBER_OF_CORES
+#define configTICK_CORE                         0
+#define configRUN_MULTIPLE_PRIORITIES           1
+#if configNUMBER_OF_CORES > 1
+#define configUSE_CORE_AFFINITY                 1
+#endif
+#define configUSE_PASSIVE_IDLE_HOOK             0
+#endif
+
+/* RP2040/RP2350 specific */
+#define configSUPPORT_PICO_SYNC_INTEROP         1
+#define configSUPPORT_PICO_TIME_INTEROP         1
+#define configUSE_DYNAMIC_EXCEPTION_HANDLERS    0
+
+/* Macros used in #if without #ifdef guards in port headers,
+ * must be explicitly defined to avoid -Wundef warnings. */
+#ifndef PICO_DIVIDER_DISABLE_INTERRUPTS
+#define PICO_DIVIDER_DISABLE_INTERRUPTS         0
+#endif
+#define portARMV8M_MINOR_VERSION                0
+
+#if defined(PICO_RP2350) && PICO_RP2350
+/* Cortex-M33 port configuration (RP2350). */
+#define configENABLE_MPU                        0
+#define configENABLE_FPU                        1
+#define configENABLE_MVE                        0
+#define configENABLE_TRUSTZONE                  0
+#define configRUN_FREERTOS_SECURE_ONLY          1
+#define configMAX_SYSCALL_INTERRUPT_PRIORITY    16
+#endif
+
+#include <assert.h>
+#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                0
+#define INCLUDE_uxTaskPriorityGet               0
+#define INCLUDE_vTaskDelete                     0
+#define INCLUDE_vTaskSuspend                    1 // required for 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        1
+#define INCLUDE_xTimerPendFunctionCall          1
+
+#endif /* FREERTOS_CONFIG_H */
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..6e88b9fa1 100644
--- a/hw/bsp/rp2040/family.cmake
+++ b/hw/bsp/rp2040/family.cmake
@@ -194,91 +194,71 @@ endif()
 # Functions
 #------------------------------------
 function(family_add_default_example_warnings TARGET)
+	if (DEFINED PICO_TINYUSB_NO_EXAMPLE_WARNINGS)
+		return()
+	endif ()
+
   # Apply warnings to all TinyUSB interface library sources as well as examples sources
   # we cannot set compile options for target since it will not propagate to INTERFACE sources then picosdk files
+	# Remove -Werror from example sources so per-file warning suppressions can work.
+	# -Werror is kept on TinyUSB sources to catch real issues.
+	set(example_warn_flags ${WARN_FLAGS_${CMAKE_C_COMPILER_ID}})
+	list(REMOVE_ITEM example_warn_flags -Werror)
+
+	get_target_property(EXAMPLE_SOURCES ${TARGET} SOURCES)
+	set_source_files_properties(${EXAMPLE_SOURCES} PROPERTIES COMPILE_OPTIONS "${example_warn_flags}")
+
   foreach(TINYUSB_TARGET IN ITEMS tinyusb_common_base tinyusb_device_base tinyusb_host_base tinyusb_host_max3421 tinyusb_bsp)
     get_target_property(TINYUSB_SOURCES ${TINYUSB_TARGET} INTERFACE_SOURCES)
     set_source_files_properties(${TINYUSB_SOURCES} PROPERTIES COMPILE_OPTIONS "${WARN_FLAGS_${CMAKE_C_COMPILER_ID}}")
-  endforeach()
-
-  # Also apply to example sources, but filter out any source files from lib/ (e.g. fatfs)
-  get_target_property(EXAMPLE_SOURCES ${TARGET} SOURCES)
-  set(FILTERED_SOURCES "")
-  foreach(SOURCE_FILE IN LISTS EXAMPLE_SOURCES)
-    string(FIND "${SOURCE_FILE}" "${TOP}/lib" FOUND_POS)
-    if(FOUND_POS EQUAL -1)
-      list(APPEND FILTERED_SOURCES ${SOURCE_FILE})
-    endif()
-  endforeach()
-  set_source_files_properties(${FILTERED_SOURCES} PROPERTIES COMPILE_OPTIONS "${WARN_FLAGS_${CMAKE_C_COMPILER_ID}}")
+	endforeach()
 
   if (CMAKE_C_COMPILER_ID STREQUAL "GNU")
     if (CMAKE_C_COMPILER_VERSION VERSION_GREATER_EQUAL 12.0 AND NO_WARN_RWX_SEGMENTS_SUPPORTED)
       target_link_options(${TARGET} PRIVATE "LINKER:--no-warn-rwx-segments")
     endif()
+	elseif (CMAKE_C_COMPILER_ID STREQUAL "Clang")
+		target_compile_options(${TARGET} PRIVATE -Wno-unreachable-code)
+	endif ()
+endfunction()
 
-    if (CMAKE_C_COMPILER_VERSION VERSION_GREATER_EQUAL 10.0)
-      target_compile_options(${TARGET} PRIVATE -Wconversion)
-    endif()
-
-    if (CMAKE_C_COMPILER_VERSION VERSION_GREATER_EQUAL 8.0)
-      target_compile_options(${TARGET} PRIVATE -Wcast-function-type -Wstrict-overflow)
-    endif()
-
-    if (CMAKE_C_COMPILER_VERSION VERSION_GREATER_EQUAL 6.0)
-      target_compile_options(${TARGET} PRIVATE -Wno-strict-aliasing)
-    endif()
-  endif()
+function(family_add_board BOARD_TARGET)
+	add_library(${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)
+function(family_configure_example TARGET RTOS)
+	# Set OS per-target: FreeRTOS or Pico SDK
+	if (NOT DEFINED RTOS)
+		set(RTOS noos)
+	endif ()
 
-	# compile define from command line
-	if(DEFINED CFLAGS_CLI)
-		separate_arguments(CFLAGS_CLI)
-		target_compile_options(${TARGET} PUBLIC ${CFLAGS_CLI})
+	# Set OS for non-RTOS targets (RTOS targets get it from family_add_rtos)
+	if (RTOS STREQUAL noos)
+		target_compile_definitions(${TARGET} PUBLIC CFG_TUSB_OS=${TINYUSB_OPT_OS})
+	else ()
+		# remove CFG_TUSB_OS=OPT_OS_PICO from tinyusb_common_base to avoid redefinition
+		# NOTE: cannot remove it from interface declaration as pico-sdk use that
+		get_target_property(_defs tinyusb_common_base INTERFACE_COMPILE_DEFINITIONS)
+		list(REMOVE_ITEM _defs "CFG_TUSB_OS=${TINYUSB_OPT_OS}")
+		set_property(TARGET tinyusb_common_base PROPERTY INTERFACE_COMPILE_DEFINITIONS ${_defs})
 	endif()
 
+	family_configure_common(${TARGET} ${RTOS})
 	pico_add_extra_outputs(${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()
-
-
-function(rp2040_family_configure_example_warnings TARGET)
-	if (NOT PICO_TINYUSB_NO_EXAMPLE_WARNINGS)
-		family_add_default_example_warnings(${TARGET})
-	endif()
-	if(CMAKE_C_COMPILER_ID STREQUAL "Clang")
-		target_compile_options(${TARGET} PRIVATE -Wno-unreachable-code)
-	endif()
-	suppress_tinyusb_warnings()
 endfunction()
 
 
 function(family_configure_device_example TARGET RTOS)
-	family_configure_target(${TARGET} ${RTOS})
-	target_link_libraries(${TARGET} PUBLIC pico_stdlib tinyusb_device${RTOS_SUFFIX})
-	rp2040_family_configure_example_warnings(${TARGET})
+	family_configure_example(${TARGET} ${RTOS})
+	target_link_libraries(${TARGET} PUBLIC pico_stdlib tinyusb_device)
 endfunction()
 
 
@@ -298,9 +278,8 @@ 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${RTOS_SUFFIX})
-	rp2040_family_configure_example_warnings(${TARGET})
+	family_configure_example(${TARGET} ${RTOS})
+	target_link_libraries(${TARGET} PUBLIC pico_stdlib tinyusb_host)
 
 	# For rp2040 enable pico-pio-usb
 	if (TARGET tinyusb_pico_pio_usb)
@@ -319,10 +298,9 @@ 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(${TARGET})
+	target_link_libraries(${TARGET} PUBLIC pico_stdlib tinyusb_device tinyusb_host tinyusb_pico_pio_usb)
 endfunction()
 
 
@@ -333,7 +311,6 @@ function(check_and_add_pico_pio_usb_support)
 		#------------------------------------
 		# PIO USB for both host and device
 		#------------------------------------
-
 		if (NOT DEFINED PICO_PIO_USB_PATH)
 			set(PICO_PIO_USB_PATH "${TOP}/hw/mcu/raspberry_pi/Pico-PIO-USB")
 		endif()
@@ -389,54 +366,3 @@ function(family_initialize_project PROJECT DIR)
 	# now re-check for adding Pico-PIO_USB support now SDK is definitely available
 	check_and_add_pico_pio_usb_support()
 endfunction()
-
-
-# This method must be called from the project scope to suppress known warnings in TinyUSB source files
-function(suppress_tinyusb_warnings)
-	# some of these are pretty silly warnings only occurring in some older GCC versions 9 or prior
-	if (CMAKE_C_COMPILER_ID STREQUAL "GNU")
-		if (CMAKE_C_COMPILER_VERSION VERSION_LESS 10.0)
-			set(CONVERSION_WARNING_FILES
-				${PICO_TINYUSB_PATH}/src/tusb.c
-				${PICO_TINYUSB_PATH}/src/common/tusb_fifo.c
-				${PICO_TINYUSB_PATH}/src/device/usbd.c
-				${PICO_TINYUSB_PATH}/src/device/usbd_control.c
-				${PICO_TINYUSB_PATH}/src/host/usbh.c
-				${PICO_TINYUSB_PATH}/src/class/cdc/cdc_device.c
-				${PICO_TINYUSB_PATH}/src/class/cdc/cdc_host.c
-				${PICO_TINYUSB_PATH}/src/class/hid/hid_device.c
-				${PICO_TINYUSB_PATH}/src/class/hid/hid_host.c
-				${PICO_TINYUSB_PATH}/src/class/audio/audio_device.c
-				${PICO_TINYUSB_PATH}/src/class/dfu/dfu_device.c
-				${PICO_TINYUSB_PATH}/src/class/dfu/dfu_rt_device.c
-				${PICO_TINYUSB_PATH}/src/class/midi/midi_device.c
-				${PICO_TINYUSB_PATH}/src/class/usbtmc/usbtmc_device.c
-				${PICO_TINYUSB_PATH}/src/portable/raspberrypi/rp2040/hcd_rp2040.c
-				)
-			foreach(SOURCE_FILE IN LISTS CONVERSION_WARNING_FILES)
-				set_source_files_properties(${SOURCE_FILE} PROPERTIES COMPILE_FLAGS "-Wno-conversion")
-			endforeach()
-		endif()
-
-		if (TARGET tinyusb_pico_pio_usb)
-			set_source_files_properties(
-					${PICO_TINYUSB_PATH}/hw/mcu/raspberry_pi/Pico-PIO-USB/src/pio_usb_device.c
-					${PICO_TINYUSB_PATH}/hw/mcu/raspberry_pi/Pico-PIO-USB/src/pio_usb.c
-					${PICO_TINYUSB_PATH}/hw/mcu/raspberry_pi/Pico-PIO-USB/src/pio_usb_host.c
-					${PICO_TINYUSB_PATH}/src/portable/raspberrypi/pio_usb/hcd_pio_usb.c
-					PROPERTIES
-					COMPILE_FLAGS "-Wno-conversion -Wno-cast-qual -Wno-attributes")
-		endif()
-	elseif(CMAKE_C_COMPILER_ID STREQUAL "Clang")
-		set_source_files_properties(
-				${PICO_TINYUSB_PATH}/src/class/cdc/cdc_device.c
-				COMPILE_FLAGS "-Wno-unreachable-code")
-		set_source_files_properties(
-				${PICO_TINYUSB_PATH}/src/class/cdc/cdc_host.c
-				COMPILE_FLAGS "-Wno-unreachable-code-fallthrough")
-		set_source_files_properties(
-				${PICO_TINYUSB_PATH}/lib/fatfs/source/ff.c
-				PROPERTIES
-				COMPILE_FLAGS "-Wno-cast-qual")
-	endif()
-endfunction()
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'],