get freertos working with rp2040

3 files changed, 94 insertions, 39 deletions

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})