4 files changed, 134 insertions, 26 deletions
diff --git a/examples/device/board_test/CMakeLists.txt b/examples/device/board_test/CMakeLists.txt
index 9a604a732..f14d72c08 100644
--- a/examples/device/board_test/CMakeLists.txt
+++ b/examples/device/board_test/CMakeLists.txt
@@ -2,13 +2,15 @@ cmake_minimum_required(VERSION 3.20)
 
 include(${CMAKE_CURRENT_SOURCE_DIR}/../../../hw/bsp/family_support.cmake)
 
-# gets PROJECT name for the example (e.g. <BOARD>-<DIR_NAME>)
-family_get_project_name(PROJECT ${CMAKE_CURRENT_LIST_DIR})
+# Need to set Espressif defaults before project() is called
+if(FAMILY STREQUAL "espressif")
+  list(APPEND SDKCONFIG_DEFAULTS "${CMAKE_CURRENT_LIST_DIR}/sdkconfig.defaults")
+endif()
 
-project(${PROJECT} C CXX ASM)
+project(board_test C CXX ASM)
 
 # Checks this example is valid for the family and initializes the project
-family_initialize_project(${PROJECT} ${CMAKE_CURRENT_LIST_DIR})
+family_initialize_project(${PROJECT_NAME} ${CMAKE_CURRENT_LIST_DIR})
 
 # Espressif has its own cmake build system
 if(FAMILY STREQUAL "espressif")
@@ -18,7 +20,7 @@ endif()
 if (RTOS STREQUAL zephyr)
   set(EXE_NAME app)
 else()
-  set(EXE_NAME ${PROJECT})
+  set(EXE_NAME ${PROJECT_NAME})
   add_executable(${EXE_NAME})
 endif()
 
diff --git a/examples/device/board_test/Makefile b/examples/device/board_test/Makefile
index 7fa475da5..035e90308 100644
--- a/examples/device/board_test/Makefile
+++ b/examples/device/board_test/Makefile
@@ -1,11 +1,11 @@
-include ../../build_system/make/make.mk
+include ../../../hw/bsp/family_support.mk
 
 INC += \
   src \
-  $(TOP)/hw \
+
 
 # Example source
 EXAMPLE_SOURCE += $(wildcard src/*.c)
-SRC_C += $(addprefix $(CURRENT_PATH)/, $(EXAMPLE_SOURCE))
+SRC_C += $(addprefix $(EXAMPLE_PATH)/, $(EXAMPLE_SOURCE))
 
-include ../../build_system/make/rules.mk
+include ../../../hw/bsp/family_rules.mk
diff --git a/examples/device/board_test/src/main.c b/examples/device/board_test/src/main.c
index d91a8760e..96dc1bd30 100644
--- a/examples/device/board_test/src/main.c
+++ b/examples/device/board_test/src/main.c
@@ -39,11 +39,48 @@ enum {
 
 #define HELLO_STR   "Hello from TinyUSB\r\n"
 
+// board test example does not use both device and host stack
+#if CFG_TUSB_OS != OPT_OS_NONE
+uint32_t tusb_time_millis_api(void) {
+  return osal_time_millis();
+}
+
+void tusb_time_delay_ms_api(uint32_t ms) {
+  osal_task_delay(ms);
+}
+#endif
+
+//--------------------------------------------------------------------+
+//
+//--------------------------------------------------------------------+
+
+// CI_BUILD (defined for all CI builds, see hw/bsp/family_support.cmake) skips the
+// blink/echo loop below: after HIL tests, this firmware is flashed to park the
+// board in a quiet, low-power idle state (no USB, LED, or UART activity).
+#ifdef CI_BUILD
 int main(void) {
-  board_init();
-  board_led_write(true);
+  while (1) {
+    #if defined(ESP_PLATFORM)
+    vTaskDelay(portMAX_DELAY);
+    #endif
+  }
+}
+
+#else
+// Task parameter type: ULONG for ThreadX, void* for FreeRTOS and noos
+#if CFG_TUSB_OS == OPT_OS_THREADX
+  #define RTOS_PARAM ULONG
+#elif CFG_TUSB_OS == OPT_OS_FREERTOS
+  #define RTOS_PARAM void*
+  static void freertos_init(void);
+#else
+  #define RTOS_PARAM void*
+#endif
 
+static void board_test_loop(RTOS_PARAM param) {
+  (void) param;
   uint32_t start_ms = 0;
+  (void) start_ms;
   bool led_state = false;
 
   while (1) {
@@ -58,24 +95,93 @@ int main(void) {
     }
 
     // Blink and print every interval ms
-    if (!(board_millis() - start_ms < interval_ms)) {
-      start_ms = board_millis();
-
-      if (ch < 0) {
-        // skip if echoing
-        printf(HELLO_STR);
+    #if CFG_TUSB_OS == OPT_OS_FREERTOS
+    vTaskDelay(interval_ms / portTICK_PERIOD_MS);
+    #elif CFG_TUSB_OS == OPT_OS_THREADX
+    tx_thread_sleep(_osal_ms2tick(interval_ms));
+    #else
+    if (tusb_time_millis_api() - start_ms < interval_ms) {
+      continue; // not enough time
+    }
+    #endif
+    start_ms = tusb_time_millis_api();
 
-        #ifndef LOGGER_UART
-        board_uart_write(HELLO_STR, strlen(HELLO_STR));
-        #endif
-      }
+    if (ch < 0) {
+      // skip if echoing
+      printf(HELLO_STR);
 
-      board_led_write(led_state);
-      led_state = 1 - led_state; // toggle
+      #ifndef LOGGER_UART
+      board_uart_write(HELLO_STR, sizeof(HELLO_STR)-1);
+      #endif
     }
+
+    board_led_write(led_state);
+    led_state = !led_state; // toggle
   }
 }
 
+int main(void) {
+  board_init();
+  board_led_write(true);
+
+#if CFG_TUSB_OS == OPT_OS_FREERTOS
+  freertos_init();
+#elif CFG_TUSB_OS == OPT_OS_THREADX
+  tx_kernel_enter();
+#else
+  board_test_loop(NULL);
+#endif
+
+  return 0;
+}
+
+//--------------------------------------------------------------------+
+// FreeRTOS
+//--------------------------------------------------------------------+
+#if CFG_TUSB_OS == OPT_OS_FREERTOS
+
+#ifdef ESP_PLATFORM
+#define MAIN_STACK_SIZE   4096
+#else
+#define MAIN_STACK_SIZE   512
+#endif
+
+#if configSUPPORT_STATIC_ALLOCATION
+static StackType_t  _main_stack[MAIN_STACK_SIZE];
+static StaticTask_t _main_taskdef;
+#endif
+
+static void freertos_init(void) {
+  #if configSUPPORT_STATIC_ALLOCATION
+  xTaskCreateStatic(board_test_loop, "main", MAIN_STACK_SIZE, NULL, 1, _main_stack, &_main_taskdef);
+  #else
+  xTaskCreate(board_test_loop, "main", MAIN_STACK_SIZE, NULL, 1, NULL);
+  #endif
+
+  #ifndef ESP_PLATFORM
+  vTaskStartScheduler();
+  #endif
+}
+
+//--------------------------------------------------------------------+
+// ThreadX
+//--------------------------------------------------------------------+
+#elif CFG_TUSB_OS == OPT_OS_THREADX
+
+#define MAIN_TASK_STACK_SIZE  1024
+static TX_THREAD _main_thread;
+static ULONG _main_thread_stack[MAIN_TASK_STACK_SIZE / sizeof(ULONG)];
+
+void tx_application_define(void *first_unused_memory) {
+  (void) first_unused_memory;
+  static CHAR main_thread_name[] = "main";
+  tx_thread_create(&_main_thread, main_thread_name, board_test_loop, 0,
+                   _main_thread_stack, MAIN_TASK_STACK_SIZE,
+                   1, 1, TX_NO_TIME_SLICE, TX_AUTO_START);
+}
+#endif
+#endif // CI_BUILD
+
 #ifdef ESP_PLATFORM
 void app_main(void) {
   main();
diff --git a/examples/device/board_test/src/tusb_config.h b/examples/device/board_test/src/tusb_config.h
index 81829d450..97ec65f66 100644
--- a/examples/device/board_test/src/tusb_config.h
+++ b/examples/device/board_test/src/tusb_config.h
@@ -23,8 +23,8 @@
  *
  */
 
-#ifndef _TUSB_CONFIG_H_
-#define _TUSB_CONFIG_H_
+#ifndef TUSB_CONFIG_H_
+#define TUSB_CONFIG_H_
 
 #ifdef __cplusplus
  extern "C" {
@@ -74,4 +74,4 @@
  }
 #endif
 
-#endif /* _TUSB_CONFIG_H_ */
+#endif /* TUSB_CONFIG_H_ */