WIP - Add FreeRTOS support for RP2350

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.

Author: earlephilhower

libraries/FreeRTOS/lib/FreeRTOS-Kernel

@@ -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/FreeRTOS.h

@@ -82,6 +82,10 @@ extern unsigned long ulMainGetRunTimeCounterValue(void);
 #define configPRIO_BITS 3 /* 8 priority levels */
 #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. */
 #define configLIBRARY_LOWEST_INTERRUPT_PRIORITY 0x7
@@ -95,9 +99,14 @@ extern unsigned long ulMainGetRunTimeCounterValue(void);
 /*  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) )
+
+#ifdef PICO_RP2350
+#define configMAX_SYSCALL_INTERRUPT_PRIORITY    16
+#else
 /* !!!! 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
 
 #ifdef __cplusplus
 extern "C" {

libraries/FreeRTOS/src/FreeRTOSConfig.h

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

libraries/FreeRTOS/src/mpu_syscall_numbers.h

@@ -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/mpu_wrappers_v2_asm.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/port.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/portasm.c

@@ -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/portmacro.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/rp2040_config.h

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