Merge pull request #297 from hathach/develop

Added cdc_msc_freertos example to ci build

32 files changed, 101 insertions, 216 deletions

diff --git a/hw/bsp/board.h b/hw/bsp/board.h
index 4c5716d96..a8f973a7f 100644
--- a/hw/bsp/board.h
+++ b/hw/bsp/board.h
@@ -39,7 +39,6 @@
 #include <stdbool.h>
 
 #include "ansi_escape.h"
-
 #include "tusb.h"
 
 #define CFG_BOARD_UART_BAUDRATE    115200
@@ -68,18 +67,21 @@ int board_uart_write(void const * buf, int len);
 #if CFG_TUSB_OS == OPT_OS_NONE
   // Get current milliseconds, must be implemented when no RTOS is used
   uint32_t board_millis(void);
+
 #elif CFG_TUSB_OS == OPT_OS_FREERTOS
   static inline uint32_t board_millis(void)
   {
     return ( ( ((uint64_t) xTaskGetTickCount()) * 1000) / configTICK_RATE_HZ );
   }
+
 #elif CFG_TUSB_OS == OPT_OS_MYNEWT
   static inline uint32_t board_millis(void)
   {
     return os_time_ticks_to_ms32( os_time_get() );
   }
+
 #else
-  #error "Need to implement board_millis() for this OS"
+  #error "board_millis() is not implemented for this OS"
 #endif
 
 //--------------------------------------------------------------------+
@@ -95,6 +97,7 @@ static inline void board_led_off(void)
   board_led_write(false);
 }
 
+// TODO remove
 static inline void board_delay(uint32_t ms)
 {
   uint32_t start_ms = board_millis();
diff --git a/hw/bsp/circuitplayground_express/board.mk b/hw/bsp/circuitplayground_express/board.mk
index 32b440715..e20272ad1 100644
--- a/hw/bsp/circuitplayground_express/board.mk
+++ b/hw/bsp/circuitplayground_express/board.mk
@@ -41,4 +41,5 @@ JLINK_DEVICE = ATSAMD21G18
 JLINK_IF = swd
 
 # flash using jlink
-flash: flash-jlink
+flash: $(BUILD)/$(BOARD)-firmware.uf2
+	cp $< /media/$(USER)/CPLAYBOOT/
diff --git a/hw/bsp/circuitplayground_express/circuitplayground_express.c b/hw/bsp/circuitplayground_express/circuitplayground_express.c
index c48d14463..cdd75580a 100644
--- a/hw/bsp/circuitplayground_express/circuitplayground_express.c
+++ b/hw/bsp/circuitplayground_express/circuitplayground_express.c
@@ -60,6 +60,11 @@ void board_init(void)
   _sysctrl_init_referenced_generators();
   _gclk_init_generators_by_fref(_GCLK_INIT_LAST);
 
+  // Update SystemCoreClock since it is hard coded with asf4 and not correct
+  // Init 1ms tick timer (samd SystemCoreClock may not correct)
+  SystemCoreClock = CONF_CPU_FREQUENCY;
+  SysTick_Config(CONF_CPU_FREQUENCY / 1000);
+
   // Led init
   gpio_set_pin_direction(LED_PIN, GPIO_DIRECTION_OUT);
   gpio_set_pin_level(LED_PIN, 0);
@@ -68,9 +73,9 @@ void board_init(void)
   gpio_set_pin_direction(BUTTON_PIN, GPIO_DIRECTION_IN);
   gpio_set_pin_pull_mode(BUTTON_PIN, GPIO_PULL_DOWN);
 
-#if CFG_TUSB_OS  == OPT_OS_NONE
-  // 1ms tick timer (samd SystemCoreClock may not correct)
-  SysTick_Config(CONF_CPU_FREQUENCY / 1000);
+#if CFG_TUSB_OS  == OPT_OS_FREERTOS
+  // If freeRTOS is used, IRQ priority is limit by max syscall ( smaller is higher )
+  NVIC_SetPriority(USB_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY);
 #endif
 
   /* USB Clock init
diff --git a/hw/bsp/ea4357/board.mk b/hw/bsp/ea4357/board.mk
index ff7b7a151..dc002215b 100644
--- a/hw/bsp/ea4357/board.mk
+++ b/hw/bsp/ea4357/board.mk
@@ -3,6 +3,8 @@ CFLAGS += \
   -mthumb \
   -mabi=aapcs \
   -mcpu=cortex-m4 \
+  -mfloat-abi=hard \
+  -mfpu=fpv4-sp-d16 \
   -nostdlib \
   -DCORE_M4 \
   -DCFG_TUSB_MCU=OPT_MCU_LPC43XX \
@@ -35,7 +37,7 @@ VENDOR = nxp
 CHIP_FAMILY = transdimension
 
 # For freeRTOS port source
-FREERTOS_PORT = ARM_CM4
+FREERTOS_PORT = ARM_CM4F
 
 # For flash-jlink target
 JLINK_DEVICE = LPC4357
diff --git a/hw/bsp/feather_m0_express/feather_m0_express.c b/hw/bsp/feather_m0_express/feather_m0_express.c
index 6fb14b5a2..df81940f2 100644
--- a/hw/bsp/feather_m0_express/feather_m0_express.c
+++ b/hw/bsp/feather_m0_express/feather_m0_express.c
@@ -60,6 +60,11 @@ void board_init(void)
   _sysctrl_init_referenced_generators();
   _gclk_init_generators_by_fref(_GCLK_INIT_LAST);
 
+  // Update SystemCoreClock since it is hard coded with asf4 and not correct
+  // Init 1ms tick timer (samd SystemCoreClock may not correct)
+  SystemCoreClock = CONF_CPU_FREQUENCY;
+  SysTick_Config(CONF_CPU_FREQUENCY / 1000);
+
   // Led init
   gpio_set_pin_direction(LED_PIN, GPIO_DIRECTION_OUT);
   gpio_set_pin_level(LED_PIN, 0);
@@ -68,9 +73,9 @@ void board_init(void)
   gpio_set_pin_direction(BUTTON_PIN, GPIO_DIRECTION_IN);
   gpio_set_pin_pull_mode(BUTTON_PIN, GPIO_PULL_UP);
 
-#if CFG_TUSB_OS  == OPT_OS_NONE
-  // 1ms tick timer (samd SystemCoreClock may not correct)
-  SysTick_Config(CONF_CPU_FREQUENCY / 1000);
+#if CFG_TUSB_OS  == OPT_OS_FREERTOS
+  // If freeRTOS is used, IRQ priority is limit by max syscall ( smaller is higher )
+  NVIC_SetPriority(USB_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY);
 #endif
 
   /* USB Clock init
diff --git a/hw/bsp/feather_m4_express/feather_m4_express.c b/hw/bsp/feather_m4_express/feather_m4_express.c
index 1e20c846f..60939c99b 100644
--- a/hw/bsp/feather_m4_express/feather_m4_express.c
+++ b/hw/bsp/feather_m4_express/feather_m4_express.c
@@ -58,6 +58,11 @@ void board_init(void)
   _oscctrl_init_referenced_generators();
   _gclk_init_generators_by_fref(_GCLK_INIT_LAST);
 
+  // Update SystemCoreClock since it is hard coded with asf4 and not correct
+  // Init 1ms tick timer (samd SystemCoreClock may not correct)
+  SystemCoreClock = CONF_CPU_FREQUENCY;
+  SysTick_Config(CONF_CPU_FREQUENCY / 1000);
+
   // Led init
   gpio_set_pin_direction(LED_PIN, GPIO_DIRECTION_OUT);
   gpio_set_pin_level(LED_PIN, 0);
@@ -66,9 +71,12 @@ void board_init(void)
   gpio_set_pin_direction(BUTTON_PIN, GPIO_DIRECTION_IN);
   gpio_set_pin_pull_mode(BUTTON_PIN, GPIO_PULL_UP);
 
-#if CFG_TUSB_OS  == OPT_OS_NONE
-  // 1ms tick timer (samd SystemCoreClock may not correct)
-  SysTick_Config(CONF_CPU_FREQUENCY / 1000);
+#if CFG_TUSB_OS  == OPT_OS_FREERTOS
+  // If freeRTOS is used, IRQ priority is limit by max syscall ( smaller is higher )
+  NVIC_SetPriority(USB_0_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY);
+  NVIC_SetPriority(USB_1_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY);
+  NVIC_SetPriority(USB_2_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY);
+  NVIC_SetPriority(USB_3_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY);
 #endif
 
   /* USB Clock init
diff --git a/hw/bsp/feather_nrf52840_express/feather_nrf52840_express.c b/hw/bsp/feather_nrf52840_express/feather_nrf52840_express.c
index d98e451e5..5dc3a4c40 100644
--- a/hw/bsp/feather_nrf52840_express/feather_nrf52840_express.c
+++ b/hw/bsp/feather_nrf52840_express/feather_nrf52840_express.c
@@ -71,10 +71,8 @@ void board_init(void)
   // Button
   nrf_gpio_cfg_input(BUTTON_PIN, NRF_GPIO_PIN_PULLUP);
 
-#if CFG_TUSB_OS == OPT_OS_NONE
   // 1ms tick timer
   SysTick_Config(SystemCoreClock/1000);
-#endif
 
   // UART
   nrfx_uarte_config_t uart_cfg =
@@ -99,7 +97,6 @@ void board_init(void)
   // 2 is highest for application
   NVIC_SetPriority(USBD_IRQn, 2);
 
-
   // USB power may already be ready at this time -> no event generated
   // We need to invoke the handler based on the status initially
   uint32_t usb_reg;
diff --git a/hw/bsp/feather_nrf52840_sense/feather_nrf52840_sense.c b/hw/bsp/feather_nrf52840_sense/feather_nrf52840_sense.c
index 468f96c5e..473abc2d1 100644
--- a/hw/bsp/feather_nrf52840_sense/feather_nrf52840_sense.c
+++ b/hw/bsp/feather_nrf52840_sense/feather_nrf52840_sense.c
@@ -62,17 +62,14 @@ void board_init(void)
   // Button
   nrf_gpio_cfg_input(BUTTON_PIN, NRF_GPIO_PIN_PULLUP);
 
-#if CFG_TUSB_OS == OPT_OS_NONE
   // 1ms tick timer
   SysTick_Config(SystemCoreClock/1000);
-#endif
 
 #if TUSB_OPT_DEVICE_ENABLED
   // Priorities 0, 1, 4 (nRF52) are reserved for SoftDevice
   // 2 is highest for application
   NVIC_SetPriority(USBD_IRQn, 2);
 
-
   // USB power may already be ready at this time -> no event generated
   // We need to invoke the handler based on the status initially
   uint32_t usb_reg;
diff --git a/hw/bsp/fomu/board.mk b/hw/bsp/fomu/board.mk
index 8687cf41a..b824b6979 100644
--- a/hw/bsp/fomu/board.mk
+++ b/hw/bsp/fomu/board.mk
@@ -25,6 +25,9 @@ INC += \
 VENDOR = valentyusb
 CHIP_FAMILY = eptri
 
+# For freeRTOS port source
+FREERTOS_PORT = RISC-V
+
 # flash using dfu-util
 flash: $(BUILD)/$(BOARD)-firmware.dfu
 	dfu-util -D $^
diff --git a/hw/bsp/itsybitsy_m0/itsybitsy_m0.c b/hw/bsp/itsybitsy_m0/itsybitsy_m0.c
index 39fe3f354..dd7d4da04 100644
--- a/hw/bsp/itsybitsy_m0/itsybitsy_m0.c
+++ b/hw/bsp/itsybitsy_m0/itsybitsy_m0.c
@@ -60,6 +60,11 @@ void board_init(void)
   _sysctrl_init_referenced_generators();
   _gclk_init_generators_by_fref(_GCLK_INIT_LAST);
 
+  // Update SystemCoreClock since it is hard coded with asf4 and not correct
+  // Init 1ms tick timer (samd SystemCoreClock may not correct)
+  SystemCoreClock = CONF_CPU_FREQUENCY;
+  SysTick_Config(CONF_CPU_FREQUENCY / 1000);
+
   // Led init
   gpio_set_pin_direction(LED_PIN, GPIO_DIRECTION_OUT);
   gpio_set_pin_level(LED_PIN, 0);
@@ -68,9 +73,9 @@ void board_init(void)
   gpio_set_pin_direction(BUTTON_PIN, GPIO_DIRECTION_IN);
   gpio_set_pin_pull_mode(BUTTON_PIN, GPIO_PULL_UP);
 
-#if CFG_TUSB_OS  == OPT_OS_NONE
-  // 1ms tick timer (samd SystemCoreClock may not correct)
-  SysTick_Config(CONF_CPU_FREQUENCY / 1000);
+#if CFG_TUSB_OS  == OPT_OS_FREERTOS
+  // If freeRTOS is used, IRQ priority is limit by max syscall ( smaller is higher )
+  NVIC_SetPriority(USB_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY);
 #endif
 
   /* USB Clock init
diff --git a/hw/bsp/itsybitsy_m4/itsybitsy_m4.c b/hw/bsp/itsybitsy_m4/itsybitsy_m4.c
index 3afe93134..43432d3e3 100644
--- a/hw/bsp/itsybitsy_m4/itsybitsy_m4.c
+++ b/hw/bsp/itsybitsy_m4/itsybitsy_m4.c
@@ -58,6 +58,11 @@ void board_init(void)
   _oscctrl_init_referenced_generators();
   _gclk_init_generators_by_fref(_GCLK_INIT_LAST);
 
+  // Update SystemCoreClock since it is hard coded with asf4 and not correct
+  // Init 1ms tick timer (samd SystemCoreClock may not correct)
+  SystemCoreClock = CONF_CPU_FREQUENCY;
+  SysTick_Config(CONF_CPU_FREQUENCY / 1000);
+
   // Led init
   gpio_set_pin_direction(LED_PIN, GPIO_DIRECTION_OUT);
   gpio_set_pin_level(LED_PIN, 0);
@@ -66,9 +71,12 @@ void board_init(void)
   gpio_set_pin_direction(BUTTON_PIN, GPIO_DIRECTION_IN);
   gpio_set_pin_pull_mode(BUTTON_PIN, GPIO_PULL_UP);
 
-#if CFG_TUSB_OS  == OPT_OS_NONE
-  // 1ms tick timer (samd SystemCoreClock may not correct)
-  SysTick_Config(CONF_CPU_FREQUENCY / 1000);
+#if CFG_TUSB_OS  == OPT_OS_FREERTOS
+  // If freeRTOS is used, IRQ priority is limit by max syscall ( smaller is higher )
+  NVIC_SetPriority(USB_0_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY);
+  NVIC_SetPriority(USB_1_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY);
+  NVIC_SetPriority(USB_2_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY);
+  NVIC_SetPriority(USB_3_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY);
 #endif
 
   /* USB Clock init
diff --git a/hw/bsp/lpcxpresso54114/board.mk b/hw/bsp/lpcxpresso54114/board.mk
index 474a1ac5b..2bab0340f 100644
--- a/hw/bsp/lpcxpresso54114/board.mk
+++ b/hw/bsp/lpcxpresso54114/board.mk
@@ -39,7 +39,7 @@ VENDOR = nxp
 CHIP_FAMILY = lpc_ip3511
 
 # For freeRTOS port source
-FREERTOS_PORT = ARM_CM4
+FREERTOS_PORT = ARM_CM4F
 
 # For flash-jlink target
 JLINK_DEVICE = LPC54114J256_M4
diff --git a/hw/bsp/lpcxpresso55s69/board.mk b/hw/bsp/lpcxpresso55s69/board.mk
index 5977ce9f4..4cb2d00e5 100644
--- a/hw/bsp/lpcxpresso55s69/board.mk
+++ b/hw/bsp/lpcxpresso55s69/board.mk
@@ -39,7 +39,7 @@ VENDOR = nxp
 CHIP_FAMILY = lpc_ip3511
 
 # For freeRTOS port source
-FREERTOS_PORT = ARM_CM33
+FREERTOS_PORT = ARM_CM33_NTZ/non_secure
 
 # For flash-jlink target
 JLINK_DEVICE = LPC55S69
diff --git a/hw/bsp/metro_m0_express/metro_m0_express.c b/hw/bsp/metro_m0_express/metro_m0_express.c
index 6fb14b5a2..df81940f2 100644
--- a/hw/bsp/metro_m0_express/metro_m0_express.c
+++ b/hw/bsp/metro_m0_express/metro_m0_express.c
@@ -60,6 +60,11 @@ void board_init(void)
   _sysctrl_init_referenced_generators();
   _gclk_init_generators_by_fref(_GCLK_INIT_LAST);
 
+  // Update SystemCoreClock since it is hard coded with asf4 and not correct
+  // Init 1ms tick timer (samd SystemCoreClock may not correct)
+  SystemCoreClock = CONF_CPU_FREQUENCY;
+  SysTick_Config(CONF_CPU_FREQUENCY / 1000);
+
   // Led init
   gpio_set_pin_direction(LED_PIN, GPIO_DIRECTION_OUT);
   gpio_set_pin_level(LED_PIN, 0);
@@ -68,9 +73,9 @@ void board_init(void)
   gpio_set_pin_direction(BUTTON_PIN, GPIO_DIRECTION_IN);
   gpio_set_pin_pull_mode(BUTTON_PIN, GPIO_PULL_UP);
 
-#if CFG_TUSB_OS  == OPT_OS_NONE
-  // 1ms tick timer (samd SystemCoreClock may not correct)
-  SysTick_Config(CONF_CPU_FREQUENCY / 1000);
+#if CFG_TUSB_OS  == OPT_OS_FREERTOS
+  // If freeRTOS is used, IRQ priority is limit by max syscall ( smaller is higher )
+  NVIC_SetPriority(USB_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY);
 #endif
 
   /* USB Clock init
diff --git a/hw/bsp/metro_m4_express/metro_m4_express.c b/hw/bsp/metro_m4_express/metro_m4_express.c
index c3c0468a4..11a95b408 100644
--- a/hw/bsp/metro_m4_express/metro_m4_express.c
+++ b/hw/bsp/metro_m4_express/metro_m4_express.c
@@ -58,6 +58,11 @@ void board_init(void)
   _oscctrl_init_referenced_generators();
   _gclk_init_generators_by_fref(_GCLK_INIT_LAST);
 
+  // Update SystemCoreClock since it is hard coded with asf4 and not correct
+  // Init 1ms tick timer (samd SystemCoreClock may not correct)
+  SystemCoreClock = CONF_CPU_FREQUENCY;
+  SysTick_Config(CONF_CPU_FREQUENCY / 1000);
+
   // Led init
   gpio_set_pin_direction(LED_PIN, GPIO_DIRECTION_OUT);
   gpio_set_pin_level(LED_PIN, 0);
@@ -66,9 +71,12 @@ void board_init(void)
   gpio_set_pin_direction(BUTTON_PIN, GPIO_DIRECTION_IN);
   gpio_set_pin_pull_mode(BUTTON_PIN, GPIO_PULL_UP);
 
-#if CFG_TUSB_OS  == OPT_OS_NONE
-  // 1ms tick timer (samd SystemCoreClock may not correct)
-  SysTick_Config(CONF_CPU_FREQUENCY / 1000);
+#if CFG_TUSB_OS  == OPT_OS_FREERTOS
+  // If freeRTOS is used, IRQ priority is limit by max syscall ( smaller is higher )
+  NVIC_SetPriority(USB_0_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY);
+  NVIC_SetPriority(USB_1_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY);
+  NVIC_SetPriority(USB_2_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY);
+  NVIC_SetPriority(USB_3_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY);
 #endif
 
   /* USB Clock init
diff --git a/hw/bsp/mimxrt1010_evk/board.mk b/hw/bsp/mimxrt1010_evk/board.mk
index 7b61cb241..4dc11693a 100644
--- a/hw/bsp/mimxrt1010_evk/board.mk
+++ b/hw/bsp/mimxrt1010_evk/board.mk
@@ -42,7 +42,7 @@ VENDOR = nxp
 CHIP_FAMILY = transdimension
 
 # For freeRTOS port source
-FREERTOS_PORT = ARM_CM7
+FREERTOS_PORT = ARM_CM7/r0p1
 
 # For flash-jlink target
 JLINK_DEVICE = MIMXRT1011DAE5A
diff --git a/hw/bsp/mimxrt1015_evk/board.mk b/hw/bsp/mimxrt1015_evk/board.mk
index a538c7dc2..abb6bc38b 100644
--- a/hw/bsp/mimxrt1015_evk/board.mk
+++ b/hw/bsp/mimxrt1015_evk/board.mk
@@ -41,7 +41,7 @@ VENDOR = nxp
 CHIP_FAMILY = transdimension
 
 # For freeRTOS port source
-FREERTOS_PORT = ARM_CM7
+FREERTOS_PORT = ARM_CM7/r0p1
 
 # For flash-jlink target
 JLINK_DEVICE = MIMXRT1015DAF5A
diff --git a/hw/bsp/mimxrt1020_evk/board.mk b/hw/bsp/mimxrt1020_evk/board.mk
index 83a570858..5720da955 100644
--- a/hw/bsp/mimxrt1020_evk/board.mk
+++ b/hw/bsp/mimxrt1020_evk/board.mk
@@ -42,7 +42,7 @@ VENDOR = nxp
 CHIP_FAMILY = transdimension
 
 # For freeRTOS port source
-FREERTOS_PORT = ARM_CM7
+FREERTOS_PORT = ARM_CM7/r0p1
 
 # For flash-jlink target
 JLINK_DEVICE = MIMXRT1021DAG5A
diff --git a/hw/bsp/mimxrt1050_evkb/board.mk b/hw/bsp/mimxrt1050_evkb/board.mk
index 2303df11a..de07cdb0a 100644
--- a/hw/bsp/mimxrt1050_evkb/board.mk
+++ b/hw/bsp/mimxrt1050_evkb/board.mk
@@ -42,7 +42,7 @@ VENDOR = nxp
 CHIP_FAMILY = transdimension
 
 # For freeRTOS port source
-FREERTOS_PORT = ARM_CM7
+FREERTOS_PORT = ARM_CM7/r0p1
 
 # For flash-jlink target
 JLINK_DEVICE = MIMXRT1052xxx6B
diff --git a/hw/bsp/mimxrt1060_evk/board.mk b/hw/bsp/mimxrt1060_evk/board.mk
index 4bfc48bbf..2f6d0f7a3 100644
--- a/hw/bsp/mimxrt1060_evk/board.mk
+++ b/hw/bsp/mimxrt1060_evk/board.mk
@@ -42,7 +42,7 @@ VENDOR = nxp
 CHIP_FAMILY = transdimension
 
 # For freeRTOS port source
-FREERTOS_PORT = ARM_CM7
+FREERTOS_PORT = ARM_CM7/r0p1
 
 # For flash-jlink target
 JLINK_DEVICE = MIMXRT1062xxx6A
diff --git a/hw/bsp/mimxrt1064_evk/board.mk b/hw/bsp/mimxrt1064_evk/board.mk
index 7b992da3e..6ebf23271 100644
--- a/hw/bsp/mimxrt1064_evk/board.mk
+++ b/hw/bsp/mimxrt1064_evk/board.mk
@@ -42,7 +42,7 @@ VENDOR = nxp
 CHIP_FAMILY = transdimension
 
 # For freeRTOS port source
-FREERTOS_PORT = ARM_CM7
+FREERTOS_PORT = ARM_CM7/r0p1
 
 # For flash-jlink target
 JLINK_DEVICE = MIMXRT1064xxx6A
diff --git a/hw/bsp/ngx4330/board.mk b/hw/bsp/ngx4330/board.mk
index d95aaf056..97c24b40e 100644
--- a/hw/bsp/ngx4330/board.mk
+++ b/hw/bsp/ngx4330/board.mk
@@ -3,6 +3,8 @@ CFLAGS += \
   -mthumb \
   -mabi=aapcs \
   -mcpu=cortex-m4 \
+  -mfloat-abi=hard \
+  -mfpu=fpv4-sp-d16 \
   -nostdlib \
   -DCORE_M4 \
   -DCFG_TUSB_MCU=OPT_MCU_LPC43XX \
@@ -33,7 +35,7 @@ VENDOR = nxp
 CHIP_FAMILY = transdimension
 
 # For freeRTOS port source
-FREERTOS_PORT = ARM_CM4
+FREERTOS_PORT = ARM_CM4F
 
 # For flash-jlink target
 JLINK_DEVICE = LPC4330
diff --git a/hw/bsp/nutiny_sdk_nuc505/board.mk b/hw/bsp/nutiny_sdk_nuc505/board.mk
index 68dea63a9..39df77d2c 100644
--- a/hw/bsp/nutiny_sdk_nuc505/board.mk
+++ b/hw/bsp/nutiny_sdk_nuc505/board.mk
@@ -3,6 +3,8 @@ CFLAGS += \
   -mthumb \
   -mabi=aapcs-linux \
   -mcpu=cortex-m4 \
+  -mfloat-abi=hard \
+  -mfpu=fpv4-sp-d16 \
   -DCFG_TUSB_MCU=OPT_MCU_NUC505
 
 # All source paths should be relative to the top level.
@@ -40,7 +42,7 @@ VENDOR = nuvoton
 CHIP_FAMILY = nuc505
 
 # For freeRTOS port source
-FREERTOS_PORT = ARM_CM4
+FREERTOS_PORT = ARM_CM4F
 
 # For flash-jlink target
 JLINK_DEVICE = NUC505YO13Y
diff --git a/hw/bsp/pca10056/pca10056.c b/hw/bsp/pca10056/pca10056.c
index b9cc9fc36..8d9764c3a 100644
--- a/hw/bsp/pca10056/pca10056.c
+++ b/hw/bsp/pca10056/pca10056.c
@@ -71,10 +71,8 @@ void board_init(void)
   // Button
   nrf_gpio_cfg_input(BUTTON_PIN, NRF_GPIO_PIN_PULLUP);
 
-#if CFG_TUSB_OS == OPT_OS_NONE
   // 1ms tick timer
   SysTick_Config(SystemCoreClock/1000);
-#endif
 
   // UART
   nrfx_uarte_config_t uart_cfg =
diff --git a/hw/bsp/pca10059/pca10059.c b/hw/bsp/pca10059/pca10059.c
index 69246f4a6..e0f4bc930 100644
--- a/hw/bsp/pca10059/pca10059.c
+++ b/hw/bsp/pca10059/pca10059.c
@@ -62,10 +62,8 @@ void board_init(void)
   // Button
   nrf_gpio_cfg_input(BUTTON_PIN, NRF_GPIO_PIN_PULLUP);
 
-#if CFG_TUSB_OS == OPT_OS_NONE
   // 1ms tick timer
   SysTick_Config(SystemCoreClock/1000);
-#endif
 
 #if TUSB_OPT_DEVICE_ENABLED
   // Priorities 0, 1, 4 (nRF52) are reserved for SoftDevice
diff --git a/hw/bsp/pca10100/pca10100.c b/hw/bsp/pca10100/pca10100.c
index b9cc9fc36..8d9764c3a 100644
--- a/hw/bsp/pca10100/pca10100.c
+++ b/hw/bsp/pca10100/pca10100.c
@@ -71,10 +71,8 @@ void board_init(void)
   // Button
   nrf_gpio_cfg_input(BUTTON_PIN, NRF_GPIO_PIN_PULLUP);
 
-#if CFG_TUSB_OS == OPT_OS_NONE
   // 1ms tick timer
   SysTick_Config(SystemCoreClock/1000);
-#endif
 
   // UART
   nrfx_uarte_config_t uart_cfg =
diff --git a/hw/bsp/samg55xplained/board.mk b/hw/bsp/samg55xplained/board.mk
index 1fd137465..e0c24ed9c 100644
--- a/hw/bsp/samg55xplained/board.mk
+++ b/hw/bsp/samg55xplained/board.mk
@@ -9,7 +9,8 @@ CFLAGS += \
   -D__SAMG55J19__ \
   -DCFG_TUSB_MCU=OPT_MCU_SAMG
 
-#CFLAGS += -Wno-error=undef
+# suppress following warnings from mcu driver
+CFLAGS += -Wno-error=undef
 
 ASF_DIR = hw/mcu/microchip/samg55
 
diff --git a/hw/bsp/samg55xplained/samg55xplained.c b/hw/bsp/samg55xplained/samg55xplained.c
index 66a3d137f..1eb5105b9 100644
--- a/hw/bsp/samg55xplained/samg55xplained.c
+++ b/hw/bsp/samg55xplained/samg55xplained.c
@@ -42,7 +42,6 @@
 #define BUTTON_PIN            GPIO(GPIO_PORTA, 2)
 #define BUTTON_STATE_ACTIVE   0
 
-
 #define UART_TX_PIN           GPIO(GPIO_PORTA, 28)
 #define UART_RX_PIN           GPIO(GPIO_PORTA, 27)
 
diff --git a/hw/bsp/stm32f767nucleo/board.mk b/hw/bsp/stm32f767nucleo/board.mk
index 8d733b9b9..e5f0736df 100644
--- a/hw/bsp/stm32f767nucleo/board.mk
+++ b/hw/bsp/stm32f767nucleo/board.mk
@@ -41,5 +41,8 @@ INC += \
 VENDOR = st
 CHIP_FAMILY = synopsys
 
+# For freeRTOS port source
+FREERTOS_PORT = ARM_CM7/r0p1
+
 # flash target using on-board stlink
 flash: flash-stlink
diff --git a/hw/bsp/stm32h743nucleo/board.mk b/hw/bsp/stm32h743nucleo/board.mk
index a45c667d3..94cc44b5f 100644
--- a/hw/bsp/stm32h743nucleo/board.mk
+++ b/hw/bsp/stm32h743nucleo/board.mk
@@ -40,5 +40,8 @@ INC += \
 VENDOR = st
 CHIP_FAMILY = synopsys
 
+# For freeRTOS port source
+FREERTOS_PORT = ARM_CM7/r0p1
+
 # flash target using on-board stlink
 flash: flash-stlink
diff --git a/hw/bsp/teensy_40/board.mk b/hw/bsp/teensy_40/board.mk
index 955603e3b..6ec04a47b 100644
--- a/hw/bsp/teensy_40/board.mk
+++ b/hw/bsp/teensy_40/board.mk
@@ -42,7 +42,7 @@ VENDOR = nxp
 CHIP_FAMILY = transdimension
 
 # For freeRTOS port source
-FREERTOS_PORT = ARM_CM7
+FREERTOS_PORT = ARM_CM7/r0p1
 
 # For flash-jlink target
 JLINK_DEVICE = MIMXRT1062xxx6A
diff --git a/hw/mcu/nordic/FreeRTOSConfig.h b/hw/mcu/nordic/FreeRTOSConfig.h
deleted file mode 100644
index 53f72a062..000000000
--- a/hw/mcu/nordic/FreeRTOSConfig.h
+++ /dev/null
@@ -1,166 +0,0 @@
-/*
- * 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.
- *----------------------------------------------------------*/
-#include "nrf.h"
-
-
-#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                   ( 16*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 configSUPPORT_STATIC_ALLOCATION         1
-#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 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      0
-#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.
-//--------------------------------------------------------------------+
-/* Cortex-M specific definitions. __NVIC_PRIO_BITS is defined in core_cmx.h */
-#ifdef __NVIC_PRIO_BITS
-	#define configPRIO_BITS       __NVIC_PRIO_BITS
-#else
-  #error "This port requires __NVIC_PRIO_BITS to be defined"
-#endif
-
-/* 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. */
-
-/* SD priority
- * 0: SD timing critical
- * 1: SD memory protection
- * 2: App Highest
- * 3: App High
- * 4: SD non-time-critical
- * 5+ Remaining Application
- */
-#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 /* __FREERTOS_CONFIG__H */