Add FreeRTOS support for RP2350 (#2406)

Pull in Raspberry Pi's custom RP2350 ARM and RISC-V ports for FreeRTOS.

Basic tests run, but stress mutex test is failing in unique and interesting
ways.

* Add simplified switching test catching task swap problem

* Freertosrp2350: use FreeRTOS macros in noInterrupts/interrupts when applicable. (#2456)
* Use FreeRTOS macros in noInterrupts/interrupts when applicable.
* Fixed calling taskEXIT_CRITICAL and taskENTER_CRITICAL
---------

Co-authored-by: fietser28 <fietser28@users.noreply.github.com>

cores/rp2040/_freertos.h

@@ -54,5 +54,8 @@ extern "C" {
 
     extern void __freertos_idle_other_core() __attribute__((weak));
     extern void __freertos_resume_other_core() __attribute__((weak));
+
+    extern void __freertos_task_exit_critical() __attribute__((weak));
+    extern void __freertos_task_enter_critical() __attribute__((weak));
 }
 extern SemaphoreHandle_t __get_freertos_mutex_for_ptr(mutex_t *m, bool recursive = false);

cores/rp2040/wiring_private.cpp

@@ -23,6 +23,8 @@
 #include <hardware/gpio.h>
 #include <hardware/sync.h>
 #include <map>
+#include "_freertos.h"
+
 
 // Support nested IRQ disable/re-enable
 #ifndef maxIRQs
@@ -32,22 +34,29 @@ static uint32_t _irqStackTop[2] = { 0, 0 };
 static uint32_t _irqStack[2][maxIRQs];
 
 extern "C" void interrupts() {
-    auto core = get_core_num();
-    if (!_irqStackTop[core]) {
-        // ERROR
-        return;
+    if (__freeRTOSinitted) {
+        __freertos_task_exit_critical();
+    } else {
+        auto core = get_core_num();
+        if (!_irqStackTop[core]) {
+            // ERROR
+            return;
+        }
+        restore_interrupts(_irqStack[core][--_irqStackTop[core]]);
     }
-    restore_interrupts(_irqStack[core][--_irqStackTop[core]]);
 }
 
 extern "C" void noInterrupts() {
-    auto core = get_core_num();
-    if (_irqStackTop[core] == maxIRQs) {
-        // ERROR
-        panic("IRQ stack overflow");
+    if (__freeRTOSinitted) {
+        __freertos_task_enter_critical();
+    } else {
+        auto core = get_core_num();
+        if (_irqStackTop[core] == maxIRQs) {
+            // ERROR
+            panic("IRQ stack overflow");
+        }
+        _irqStack[core][_irqStackTop[core]++] = save_and_disable_interrupts();
     }
-
-    _irqStack[core][_irqStackTop[core]++] = save_and_disable_interrupts();
 }
 
 // Only 1 GPIO IRQ callback for all pins, so we need to look at the pin it's for and

libraries/FreeRTOS/lib/FreeRTOS-Kernel

@@ -1 +1 @@
-Subproject commit 6a303231eceaec08a26a7e534800ba4010cec58d
+Subproject commit 2e588af95bad29aef577373512883370c9408c1c

libraries/FreeRTOS/src/FreeRTOS.h

@@ -1,5 +1 @@
-#ifdef PICO_RP2350
-#error Sorry, FreeRTOS is not yet supported on the RP2350 in this core.
-#else
 #include "../lib/FreeRTOS-Kernel/include/FreeRTOS.h"
-#endif

libraries/FreeRTOS/src/FreeRTOSConfig.h

@@ -200,6 +200,10 @@ extern unsigned long ulMainGetRunTimeCounterValue(void);
 #endif
 #endif
 
+#define configENABLE_MPU                        0
+#define configENABLE_TRUSTZONE                  0
+#define configRUN_FREERTOS_SECURE_ONLY          1
+#define configENABLE_FPU                        1
 /*  The lowest interrupt priority that can be used in a call to a "set priority"
     function. */
 #ifndef configLIBRARY_LOWEST_INTERRUPT_PRIORITY
@@ -219,11 +223,16 @@ extern unsigned long ulMainGetRunTimeCounterValue(void);
 #ifndef configKERNEL_INTERRUPT_PRIORITY
 #define configKERNEL_INTERRUPT_PRIORITY ( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
 #endif
+
 /* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
     See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
 #ifndef configMAX_SYSCALL_INTERRUPT_PRIORITY
+#ifdef PICO_RP2350
+#define configMAX_SYSCALL_INTERRUPT_PRIORITY    16
+#else
 #define configMAX_SYSCALL_INTERRUPT_PRIORITY ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
 #endif
+#endif
 
 #ifndef configASSERT
 #ifdef __cplusplus

libraries/FreeRTOS/src/mpu_syscall_numbers.h

@@ -0,0 +1 @@
+#include "../lib/FreeRTOS-Kernel/include/mpu_syscall_numbers.h"

libraries/FreeRTOS/src/mpu_wrappers_v2_asm.c

@@ -0,0 +1,3 @@
+#ifdef PICO_RP2350
+#include "../lib/FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2350_ARM_NTZ/non_secure/mpu_wrappers_v2_asm.c"
+#endif

libraries/FreeRTOS/src/port.c

@@ -1 +1,5 @@
+#ifdef PICO_RP2040
 #include "../lib/FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2040/port.c"
+#else
+#include "../lib/FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2350_ARM_NTZ/non_secure/port.c"
+#endif

libraries/FreeRTOS/src/portasm.c

@@ -0,0 +1,3 @@
+#ifdef PICO_RP2350
+#include "../lib/FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2350_ARM_NTZ/non_secure/portasm.c"
+#endif

libraries/FreeRTOS/src/portmacro.h

@@ -1 +1,5 @@
+#ifdef PICO_RP2350
+#include "../lib/FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2350_ARM_NTZ/non_secure/portmacro.h"
+#else
 #include "../lib/FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2040/include/portmacro.h"
+#endif

libraries/FreeRTOS/src/rp2040_config.h

@@ -1 +1,5 @@
+#ifdef PICO_RP2350
+#include "../lib/FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2350_ARM_NTZ/non_secure//rp2040_config.h"
+#else
 #include "../lib/FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2040/include/rp2040_config.h"
+#endif

libraries/FreeRTOS/src/variantHooks.cpp

@@ -91,6 +91,14 @@ extern "C" {
     bool __freertos_check_if_in_isr() {
         return portCHECK_IF_IN_ISR();
     }
+
+    void __freertos_task_exit_critical() {
+        taskEXIT_CRITICAL();
+    }
+
+    void __freertos_task_enter_critical() {
+        taskENTER_CRITICAL();
+    }
 }
 
 

libraries/FreeRTOS/tests/switching/switching.ino

@@ -0,0 +1,57 @@
+// Released to the public domain
+#include <FreeRTOS.h>
+#include <task.h>
+#include <map>
+#define STACK_SIZE 512
+#define CORE_0 (1 << 0)
+#define CORE_1 (1 << 1)
+
+std::map<eTaskState, const char *> eTaskStateName { {eReady, "Ready"}, { eRunning, "Running" }, {eBlocked, "Blocked"}, {eSuspended, "Suspended"}, {eDeleted, "Deleted"} };
+void ps() {
+  int tasks = uxTaskGetNumberOfTasks();
+  TaskStatus_t *pxTaskStatusArray = new TaskStatus_t[tasks];
+  unsigned long runtime;
+  tasks = uxTaskGetSystemState( pxTaskStatusArray, tasks, &runtime );
+  Serial.printf("# Tasks: %d\n", tasks);
+  Serial.printf("%-3s %-16s %-10s %s %s\n", "ID", "NAME", "STATE", "PRIO", "CYCLES");
+  for (int i = 0; i < tasks; i++) {
+    Serial.printf("%2d: %-16s %-10s %4d %lu\n", i, pxTaskStatusArray[i].pcTaskName, eTaskStateName[pxTaskStatusArray[i].eCurrentState], (int)pxTaskStatusArray[i].uxCurrentPriority, pxTaskStatusArray[i].ulRunTimeCounter);
+  }
+  delete[] pxTaskStatusArray;
+}
+
+static TaskHandle_t l[16];
+
+void loop() {
+  ps();
+  delay(1000);
+}
+
+#define LOOP(z) \
+void loop##z(void *params) {\
+  (void) params;\
+  while (true) {\
+    srand(z);\
+    int sum = 0;\
+    for (int i = 0; i < 500000; i++) sum+= rand();\
+    Serial.printf("L%d: %08x\n", z, sum);\
+    delay(1000 + z * 10);\
+  }\
+}
+
+LOOP(0);
+LOOP(1);
+LOOP(2);
+LOOP(3);
+
+
+void setup() {
+  xTaskCreate(loop0, "loop0", STACK_SIZE, NULL, 1, &l[0]);
+  vTaskCoreAffinitySet(l[0], CORE_0);
+//  xTaskCreate(loop1, "loop1", STACK_SIZE, NULL, 1, &l[1]);
+//  vTaskCoreAffinitySet(l[1], CORE_0);
+//  xTaskCreate(loop2, "loop2", STACK_SIZE, NULL, 1, &l[2]);
+//  vTaskCoreAffinitySet(l[2], CORE_0);
+//  xTaskCreate(loop3, "loop3", STACK_SIZE, NULL, 1, &l[3]);
+//  vTaskCoreAffinitySet(l[3], CORE_1);
+}

tests/common.sh

@@ -8,7 +8,6 @@ function skip_ino()
     local skiplistrp2350=""
     if [ "$PICO_BOARD" == "rp2350" ]; then
         read -d '' skiplistrp2350 << EOL || true
-/FreeRTOS/
 /BTstackLib/
 /JoystickBT/
 /KeyboardBT/